Taylor Series-based Tracking Algorithm for Through-Wall Tracking of a Moving Person

Target tracking using time of arrival measurements belongs to the primary tasks solved within radar signal processing. In this paper, the Taylor series-based tracking algorithm that uses time of arrival measurements for through wall tracking of the moving target is introduced. The proposed algorithm is derived from the Taylor series method applied for target localization. In contrast to the Taylor series method, the Taylor seriesbased tracking algorithm exploits for target positioning not only actual time of arrival measurements, but also the target position estimated in the previous time instant. In order to improve the tracking ability of the proposed algorithm, a suitable weighting of the input data of the algorithm is applied. The performance of the Taylor series-based tracking algorithm will be compared with the performance of the direct calculation method and linear Kalman filtering. For that purpose, two real scenarios of through wall tracking of a moving person will be analysed. The obtained results will show very clearly that the new Taylor series based tracking algorithm introduced in this paper can provide the better estimate of the target trajectory than the other tested localization and tracking algorithms.