A novel low-cost and small-size human tracking system with pyroelectric infrared sensor mesh network

This paper presents a low-cost and small-size human tracking system based on pyroelectric infrared (PIR) sensor mesh network. A wireless pyroelectric sensor network is developed using PIRs and PIR cone optics. The layout of PIRs and sensor nodes are well investigated and the real detection range of PIR is analyzed. A simple and effective PIR signal processing method is designed to get the event signal, and an innovative location method based on detecting angle bisectors of PIRs and data fusion is proposed. An improved Kalman filter and a particle filter are used for human tracking respectively. Simulation and Experimental results have shown that the human tracking system can effectively recognize, locate and track a human target with promising accuracy.