Systems for determining the position of objects inside buildings have a wide range of applications, such as the surveillance of people’s movements in hospitals, and of goods or mobile robots in warehouse spaces or production halls. Hence, there is a need for the development of methods that could be applied for those purposes. This paper presents the results of research on an experimental system for localizing people being evacuated from a building. The proposed solution was designed as a part of the building evacuation management system. The method used for finding location belongs to the class of proximity-type methods and is based on Received Signal Strength Indicator (RSSI) information of Bluetooth Low-Energy (BLE) devices. The devices used to build the system (BLE receivers) and the evacuee’s wristband (BLE transmitters) are low-budget electronic modules. The paper presents preliminary research and the process of selecting data processing methods, as well as the results of tests of the experimental network created for the evacuation system. The results of measurements and statistical analyses of the properties of the RSSI parameter of the BLE signal transmission between the modules used in the designed system are presented. In addition, the results of RSSI measurements and the analyses of RSSI recorded under varying environmental conditions in the building are presented. The choice of the data processing method and its parameters was made with the use of the determined probabilities of the nearest locator node detection. Finally, the performance of the experimental installation of the evacuee tracking system was tested and the effectiveness of the proximity method was evaluated. The experimental tests aimed to analyze the detection range and the impact of shading. They also allowed for determining the mean error and for estimating the maximum position determination error. It should be emphasized that the proposed position estimation method has a very low computational load, allowing the implementation of an extensive real-time system on a typical personal computer. Although the proposed system should be classified as a coarse positioning system, its features such as low cost, simplicity, flexibility, the use of commonly available components and low requirements for computational load make it attractive. Such a system is directly transferable to other applications in, for example, Industry 4.0.

The novel approach to the Low Energy Bluetooth RSSI (Received Signal Strength Indicator) examination for a personal location during the evacuation process is presented in this paper. The presented system is based on stationary locating localization nodes installed inside the facility and portable wristbands worn by people. A method based on the propagation model and preliminary determination of its characteristics is used to calculate the wristband-locator distance. The accuracy of the distance estimations is increased by assuming Gaussian model of RSSI measurements and using the estimator of RSSI mean value. A modified multilateration approach is used to estimate the person’s position in the 2D Cartesian coordinate system. The paper also includes the outcomes of experiments conducted on the proposed approach as it was applied to the prototype evacuation supervision system. The paper presents a comparison of the position estimation error for the proposed method based on the mean RSSI value estimator with the results obtained when raw RSSI values were used. Analysis and discussion of wristband position estimation error are also included.

Linear frequency-modulated (LFM) signals are the most significant example of waveform used in low probability of intercept (LPI) radars, synthetic aperture radars and modern communication systems. Thus, interception and parameter estimation of the signals is one of the challenges in Electronic Support (ES) systems. The methods, which are widely used to accomplish this task are mainly based on transformations from time to time-frequency domain, which concentrate the energy of signals along an instantaneous frequency (IF) line. The most popular examples of such transforms are the short time Fourier transform (STFT) and Wigner-Ville distribution (WVD). However, for LFM waveforms, methods that concentrate signal energy along a line in the time-frequency rate domain may allow to obtain better detection and estimation performance. This type of transformation can be obtained using the cubic phase (CP) function (CPF). In the paper, the detection of LFM waveform and its chirp rate (CR) parameter estimation based on the extended forms of the standard CPF is proposed. The CPF was originally introduced for instantaneous frequency rate (IFR) estimation for quadratic frequency modulated (QFM) signals i.e., cubic phase signals. Summation or multiplication operations on time cross-sections of the CPF allow to formulate the extended forms of the CPF. Based on these forms, detection test statistics and the estimation procedure of LFM signal parameters have been proposed. The widely known estimation methods assure satisfying accuracy for high SNR levels, but for low SNRs the reliable estimation is a challenge. The proposed approach based on joint analysis of detection and estimation characteristics allows to increase the reliability of chirp rate estimates for low SNRs. The results of Monte-Carlo simulation investigations on LFM signal detection and chirp rate estimation evaluated by the mean squared error (MSE) obtained by the proposed methods with comparisons to the Cramer-Rao lower bound (CRLB) are presented.

A radar signal recognition can be accomplished by exploiting the particular features of a radar signal observed in presence of noise. The features are the result of slight radar component variations and acts as an individual signature. The paper describes radar signal recognition algorithm based on time frequency analysis, noise reduction and statistical classification procedures. The proposed method is based on the Wigner-Ville Distribution with using a two-dimensional denoising filter which is followed by a probability density function estimator which extracts the features vector. Finally the statistical classifier is used for the radar signal recognition. The numerical simulation results for the P4-coded signals are presented.

A new approach to the estimation and classification of nonlinear frequency modulated (NLFM) signals is presented in the paper. These problems are crucial in electronic reconnaissance systems whose role is to indicate what signals are being received and recognized by the intercepting receiver. NLFM signals offer a variety of useful properties not available for signals with linear frequency modulation (LFM). In particular, NLFM signals can ensure the desired reduction of sidelobes of an autocorrelation (AC) function and desired power spectral density (PSD); therefore, such signals are more frequently used in modern radar and echolocation systems. Due to their nonlinear properties, the discussed signals are difficult to recognize and therefore require sophisticated methods of analysis, estimation and classification. NLFM signals with frequency content varying with time are mainly analyzed by time–frequency algorithms. However, the methods presented in the paper belong to time–chirp domain, which is relatively rarely cited in the literature. It is proposed to use polynomial approximations of nonlinear frequency and phase functions describing signals. This allows for applying the cubic phase function (CPF) as an estimator of phase polynomial coefficients. Originally, the CPF involved only third-order nonlinearities of the phase function. The extension of the CPF using nonuniform sampling is used to analyse the higher order polynomial phase. In this paper, a sixth order polynomial is considered. It is proposed to estimate the instantaneous frequency using a polynomial with coefficients calculated from the coefficients of the phase polynomial obtained by CPF. The determined coefficients also constitute the set of distinctive features for a classification task. The proposed CPF-based classification method was examined for three common NLFM signals and one LFM signal. Two types of neural network classifiers: learning vector quantization (LVQ) and multilayer perceptron (MLP) are considered for such defined classification problem. The performance of both the estimation and classification processes was analyzed using Monte Carlo simulation studies for different SNRs. The results of the simulation research revealed good estimation performance and error-free classification for the SNR range encountered in practical applications.

A novel method is proposed for asynchronous measurement fusion using maximum‐likelihood (ML) estimator. This method is applied to multiple radar tracking and reconstruction of ballistic trajectories. The performance and robustness of the ML measurement fusion technique are analysed using a generic simulation scenario involving multi‐sensor weapon locating in urban environment. Accuracies of firing point and impact point estimation of mortar grenades and artillery rockets are also evaluated taking into account different radars’ characteristics and geometries of the scenario. Immunity to glint noise, limited time of observation, and uncertainty of ballistic coefficient are also investigated. This study shows the effectiveness of the new method, advantages over track fusion approach, and reveals its practical value.