Method and system for indoor multipath ghosts recognition

1. A method for multipath ghosts recognition for a multiple-input-multiple-output radar with collocated antennas, the method comprising:

generating a two-dimensional Range-Doppler map for consecutive radar data frames,

applying a temporal clustering algorithm to the consecutive radar data frames, and

applying a linear pattern extraction algorithm on the two-dimensional Range-Doppler map, wherein the two-dimensional Range-Doppler map comprises detections from a target, a first-order ghost, and a second-order ghost with respect to one wall reflector,

wherein the method further comprises recognizing, via the linear pattern extraction algorithm, a set of three points in the two-dimensional Range-Doppler map corresponding to the detections from the target, the first-order ghost, and the second-order ghost.

2. The method according to claim 1 , wherein the linear pattern extraction algorithm comprises a split-and-merge algorithm.

3. The method according to claim 1 , wherein the linear pattern extraction algorithm comprises a Random Sample Consensus algorithm.

4. The method according to claim 1 , wherein the linear pattern extraction algorithm comprises a Hough transform based linear pattern extraction algorithm.

5. The method according to claim 1 , wherein the set of three points in the two-dimensional Range-Doppler map are collinear and are equidistant.

6. The method according to claim 1 , wherein the method further comprises comparing respective Range and Doppler values of the set of three points in the two-dimensional Range-Doppler map, thereby recognizing the detections from the target, the first-order ghost, and the second-order ghost.

7. The method according to claim 1 , wherein the method further comprises implementing a tracking algorithm in order to estimate a state of the target.

8. The method according to claim 1 , wherein the method further comprises implementing a joint target tracking algorithm and wall estimation algorithm in order to estimate a state of the target and of the second-order ghost.

9. The method according to claim 8 , wherein the joint target tracking algorithm comprises non-linear filtration as an Extended Kalman Filter.

10. The method according to claim 1 , wherein the method further comprises implementing a Simultaneous Target and Multipath Positioning model in order to estimate parameters of a reflector associated with the first-order ghost and the second-order ghost.

11. The method according to claim 1 , wherein the two-dimensional Range-Doppler map further comprises detections from a plurality of targets, a plurality of first-order ghosts, and a plurality of second-order ghosts.

12. The method according to claim 11 , wherein the method is performed iteratively.

13. The method according to claim 1 , wherein the target is non-rigid.

14. The method according to claim 1 , wherein the multiple-input-multiple-output radar is a frequency-modulated continuous-wave radar.

15. A system for indoor multipath ghost recognition comprises:

a multiple-input-multiple-output radar with collocated antennas, and

a processor operably coupled to the multiple-input-multiple-output radar,

wherein the processor is configured to generate a two-dimensional Range-Doppler map for N number of consecutive radar data frames,

wherein the processor is further configured to apply a temporal clustering algorithm to the N number of consecutive radar data frames,

wherein the processor is further configured to apply a linear pattern extraction algorithm on the two-dimensional Range-Doppler map, and

wherein the two-dimensional Range-Doppler map comprises detections from a target, a first-order ghost, and a second-order ghost with respect to one wall reflector,

wherein the processor is configured to recognize, via the linear pattern extraction algorithm, a set of three points in the two-dimensional Range-Doppler map corresponding to the detections from the target, the first-order ghost, and the second-order ghost.

16. The system according to claim 15 , wherein the linear pattern extraction algorithm is a split-and-merge algorithm, a Random Sample Consensus algorithm, or a Hough transform based linear pattern extraction algorithm.

17. A method for multipath ghosts recognition for a multiple-input-multiple-output radar with collocated antennas, the method comprising:

generating a two-dimensional Range-Doppler map that includes data from radar data frames collected consecutively over time,

applying a temporal clustering algorithm to the radar data frames, and

applying a linear pattern extraction algorithm on the two-dimensional Range-Doppler map, thereby identifying a range and a velocity for each of (i) a target, (ii) a first-order ghost of the target, and (ii) a second-order ghost of the target, wherein the first-order ghost represents a first signal from the target that reflects from a static object once before being detected by the collocated antennas, and wherein the second-order ghost represents a second signal from the target that reflects from the static object twice before being detected by the collocated antennas.

18. The method according to claim 1 , wherein the multiple-input-multiple-output radar comprises a Doppler radar.

19. The method according to claim 17 , wherein the linear pattern extraction algorithm comprises a split-and-merge algorithm.

20. The method of claim 17 , wherein the linear pattern extraction algorithm comprises at least one of: a split-and-merge algorithm, a Random Sample Consensus algorithm, or a Hough transform based linear pattern extraction algorithm.