Distributed detection of living beings through walls while in motion

A method, comprising:

• sensing at least one living being within an area using at least a first through-wall sensing radar transceiver moving through an area at a first current location;
• sensing the at least one living being within the area using at least a second through-wall sensing radar transceiver moving through the area at a second current location that is different than the first current location of the at least the first through-wall sensing radar transceiver;
• computing position data relating to the first current location of the at least the first through-wall sensing radar transceiver and the second current location of the at least the second through-wall sensing radar transceiver using a first inertial navigation system corresponding to and positioned with the at least the first through-wall sensing radar transceiver at the first current location and a second inertial navigation system corresponding to and positioned with the at least the second through-wall sensing radar transceiver at the second current location;
• receiving first ranging data from the at least the first through-wall sensing radar transceiver, the first ranging data pertaining to a current location of the at least one living being relative to the first current location of the at least the first through-wall sensing radar transceiver;
• receiving second ranging data from the at least the second through-wall sensing radar transceiver, the second ranging data pertaining to the current location of the at least one living being relative to the second current location of the at least the second through-wall sensing radar transceiver;
• receiving the position data relating to the first current location of the at least the first through-wall sensing radar transceiver and the second current location of the at least the second through-wall sensing radar transceiver from at least one of the first inertial navigation system and the second inertial navigation system;
• and
• determine the current location of the at least one living being based on the first ranging data, the second ranging data, and the position data.

A system, comprising:

• at least a first through-wall sensing radar transceiver mounted to a first vehicle, the at least the first through-wall sensing radar transceiver configured to sense at least one living being within an area as the first vehicle moves the at least the first through-wall sensing radar transceiver through the area at a first current location;
• at least a second through-wall sensing radar transceiver mounted to a second vehicle, the at least the second through-wall sensing radar transceiver configured to sense the at least one living being within the area as the second vehicle moves the at least the first through-wall sensing radar transceiver through the area at a second current location that is different than the first current location of the at least the first through-wall sensing radar transceiver;
• a first inertial navigation system mounted to the first vehicle, the first inertial navigation system corresponding to the at least the first through-wall sensing radar transceiver;
• a second inertial navigation system mounted to the second vehicle, the second inertial navigation system corresponding to the at least the second through-wall sensing radar transceiver, wherein the first inertial navigation system and the second inertial navigation system are configured to compute position data relating to the first current location of the at least the first through-wall sensing radar transceiver and the second current location of the at least the second through-wall sensing radar transceiver;
• and
• circuitry configured to:
• receive first ranging data from the at least the first through-wall sensing radar transceiver, the first ranging data pertaining to a current location of the at least one living being relative to the first current location of the at least the first through-wall sensing radar transceiver while the first vehicle moves through the area;
• receive second ranging data from the at least the second through-wall sensing radar transceiver, the second ranging data pertaining to the current location of the at least one living being relative to the second current location of the at least the second through-wall sensing radar transceiver while the second vehicle moves through the area;
• receive the position data relating to the first current location of the at least the first through-wall sensing radar transceiver and the second current location of the at least the second through-wall sensing radar transceiver from at least one of the first inertial navigation system and the second inertial navigation system;
• and
• determine the current location of the at least one living being based on the first ranging data, the second ranging data, and the position data.