A Multiple-Moving Target Tracking Technique Using FMCW Radars with Beamforming

This paper proposes a multiple-moving target detection and tracking technique using a frequency-modulated continuous wave (FMCW) radar system, covering the complete process from data processing to accurate trajectory estimation. This system receives the data from the antenna array. The data are converted to the frequency domain using windowing, one-dimensional fast Fourier transform (1D-FFT), and a moving target indication (MTI) filter to remove environmental and radar noise. A two-dimensional fast Fourier transform (2D-FFT) is performed to extract the velocity and the corresponding distance. The two-dimensional constant false alarm rate (2D-CFAR) and beamforming algorithms are used for target detection and azimuth extraction. The nearest neighbor data association (NNDA) is applied for multi-target identification, and the Kalman filter is utilized to update and estimate target trajectories continuously.