A low-complexity radar for human tracking in three-dimensional space is reported. The system consists of a three-element receiving array and two continuous-wave (CW) frequencies configured to provide azimuth bearing, elevation bearing and range measurements. Doppler processing is used for clutter removal as well as to separate multiple moving targets. A radar prototype is constructed and tested. Three-dimensional tracking of multiple humans is performed in both unobstructed and through-wall scenarios.
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Lin et al. (2006) studied this question.