本文为瑞典马拉达伦大学（作者：Melika Hozhabri）的论文，共63页。

随着机器人和自动化设备越来越多地取代了手工操作，保护与这些机器协同工作的人类正成为一项越来越重要的任务。摄像机、红外、地震传感器以及雷达系统等技术被用于人类的检测与定位。在各种雷达传感器中，超宽带（UWB）雷达在恶劣的天气和雷电条件下仍能提供高精度、高性能的目标距离。与使用特定频率和高输出功率的传统雷达系统不同，UWB雷达使用宽频带（>500MHz）和低输出功率来测量目标的距离。

本论文的目的是研究超宽带雷达系统，以保护像矿场这种危险环境中的人，在这种灰尘、雾和缺乏光线等条件下，相机等设备的功能有限。通过实验测试验证了硬件的有效性，并研究了硬件的约束条件。对两种主要的超宽带雷达技术：脉冲超宽带雷达和M序列超宽带雷达进行了比较。结果表明，M序列UWB雷达更适合于远距离静态人体目标的检测。但更好的性能是以更高的功耗为代价的。通过对人体在不同环境中行走的测量，对人体背景噪声和雷达反射回波进行测量和比较。研究了一种人体模型，讨论了其材料和形状的选择。分析了人体模型的反射，并与人体躯干的反射进行了比较。此外，还讨论了识别人类的频率选择问题。信号处理算法和滤波器是为了跟踪人类的存在、位置和运动，这些算法包括信号的预处理，如背景去除、检测和定位等技术。

As robots and automated machineries areincreasingly replacing the manual operations, protecting humans who are workingin collaboration with these machines is becoming an increasingly importanttask. Technologies such as cameras, infra-red and seismic sensors as well asradar systems are used for presence detection and localization of human beings.Among different radar sensors, Ultra Wide Band (UWB) radar has shown someadvantages such as providing the distance to the object with good precision andhigh performance even under adverse weather and lightning conditions. In contraryto traditional radar systems which use a specific frequency and high outputpower, UWB Radar uses a wide frequency band (> 500 MHz) and low output powerto measure the distance to the object. The purpose of this thesis is toinvestigate UWB radar system for protecting humans around dangerous machineryin environments like mines where conditions like dirt, fog, and lack of lightcause other technologies such as cameras to have a limited functionality.Experimental measurements are done to validate the hardware and to investigateits constraints. Comparison between two dominant UWB radar technologies isperformed: Pulse and M-sequence UWB radar for static human being detection. Theresults show that M-sequence UWB radar is better suited for detecting the statichuman target at larger distances. The better performance comes at the cost ofhigher power usage. Measurements of human walking in different environments isdone to measure and compare the background noise and radar reflection of thehuman body. A human phantom is developed and choice of material and shape forit is discussed. The reflection of the phantom is analyzed and compared withthe reflection of a human trunk. Furthermore, the choice of frequency indiscerning human beings is discussed. Signal processing algorithms and filtersare developed for tracking of the human presence, position and movements. Thesealgorithms contain pre-processing of the signal such as removing thebackground, detection and positioning techniques.

1. 引言

1.1 研究动机

1.2 问题描述与建模

1.3 研究方法

2. 相关工作

2.1 项目背景

2.2 UWB雷达系统

2.3 信号处理

2.4 人体雷达反射截面

2.5 相关实验系统

3. 系统设计与验证

3.1 软件平台设计

3.2 系统验证与测量

3.3 信号处理算法

4. 本文研究贡献

5. 结论与未来工作展望

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