JP2015117972A - Processing apparatus and processing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a processing apparatus and a processing method capable of detecting the number of objects.SOLUTION: The processing apparatus includes a propagation path estimation unit which estimates a first complex transfer function matrix on the basis of signals transmitted from a plurality of transmission antennas and received by a plurality of reception antennas, a frequency response calculation unit which converts time response of the first complex transfer function matrix to frequency response to calculate a second complex transfer function matrix, an extraction unit which extracts a second complex transfer function matrix corresponding to a prescribed frequency band from the second complex transfer function matrix, and an object detection unit which detects the number of objects on the basis of the comparison result between a reference value relating to detection of objects and calculated values relating to detection of objects, which are based on the extracted second complex transfer function matrix. The object detection units detects, as the number of objects, the number of calculated values relating to detection of objects having values larger than the reference value relating to detection of objects or the number of calculated values relating to detection of objects having values equal to or larger than the reference value relating to detection of objects.

Description

  The present invention relates to a processing apparatus and a processing method.

  A technique for detecting a detection target using a signal transmitted wirelessly has been developed. As a technique for detecting a detection target using a signal transmitted wirelessly (hereinafter, sometimes referred to as “wireless signal”), for example, a technique described in Patent Document 1 and a technique described in Patent Document 2 The technique described in Non-Patent Document 1 and the technique described in Non-Patent Document 2 are included.

JP 2010-249712 A Japanese Patent No. 4783130

T.MIWA, S.OGIWARA, and Y.YAMAKOSHI, “Localization of living-bodies using single-frequency multistatic doppler radar system,” IEICE TRANSACTIONS on Communications Vol.E92-B, No.7, pp.2468-2476, July .2009. Konno, Nanko, Honma, Nishimori, Takemura, Mitsui, Sato, and Tsunekawa, “Biological Direction Estimation Method Using Microwave Sensors in a Multiwave Environment”, IEICE Society Conference, B-1-191, September 2013

  For example, in the techniques described in Patent Documents 1 and 2, a radio signal is transmitted to a predetermined area, and a radio signal reflected by an object to be detected (hereinafter simply referred to as “object”) is received. For example, in the techniques described in Patent Documents 1 and 2, an object moving in the predetermined region is detected by analyzing a change in a radio signal due to the Doppler effect. When detecting an object using the Doppler effect, for example, there is a possibility that the direction in which the object exists can be estimated when an antenna that transmits and receives radio signals is used as a reference.

  However, when detecting an object using the Doppler effect as in the techniques described in Patent Documents 1 and 2, for example, the number of objects existing in the predetermined region cannot always be detected. Absent. In addition, when detecting an object using the Doppler effect, it is difficult to estimate the position of the object.

  Further, for example, in the technology described in Non-Patent Document 1, a transmission array antenna (array antenna) and a reception array antenna are arranged so as to surround both sides of the detection range or the detection range, and between the transmission array antenna and the reception array antenna. Get propagation channel information. In the technique described in Non-Patent Document 1, only a fluctuation component is extracted from propagation channel (channel) information, and a MUSIC using a function of orthogonal three-dimensional coordinates called a spherical mode (steering vector) ( The position of the detection target is estimated by the MUltiple Signal Classification method. Further, for example, Non-Patent Document 1 discloses that the position of the detection target can be estimated at the same time even when there are a plurality of objects in the detection range.

  However, for example, when the technique described in Non-Patent Document 1 is used, an array antenna width equivalent to the detection distance is required to estimate the position of the object. The reason why the array antenna width equivalent to the detection distance is required in the technique described in Non-Patent Document 1 is that the propagation surface becomes a flat surface as the detection surface becomes larger as the detection distance becomes larger. Therefore, for example, when the technique described in Non-Patent Document 1 is used, it is necessary to widen the array antenna width, which may increase the size of the device and lead to higher cost of the device.

  Further, for example, in the technique described in Non-Patent Document 2, the directions of a plurality of detection targets are detected simultaneously by applying a steering vector in a plane wave mode.

  However, in the technique described in Non-Patent Document 2, for example, direction estimation is performed using a single array antenna such as SIMO (Single-Input Multiple-Output), so the technique described in Non-Patent Document 2 is used. However, it is not always possible to detect the number of objects. For example, in the technique described in Non-Patent Document 2, since the direction is estimated using a single array antenna, the position of the object is estimated even if the technique described in Non-Patent Document 2 is used. I can't.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a new and improved processing apparatus and processing method capable of detecting the number of objects. is there.

  Another object of the present invention is to provide a new and improved processing apparatus and processing method capable of estimating the position of an object corresponding to each object whose number has been detected. There is.

  In order to achieve the above object, according to a first aspect of the present invention, a first complex transfer function matrix indicating a propagation path formed between a plurality of transmitting antennas and a plurality of receiving antennas, A propagation path estimator that estimates from signals transmitted from the transmitting antennas and received by the plurality of receiving antennas, and converts the time response of the first complex transfer function matrix into a frequency response, A frequency response calculation unit for calculating a complex transfer function matrix, an extraction unit for extracting the second complex transfer function matrix corresponding to a predetermined frequency band from the calculated second complex transfer function matrix, and an object The comparison result between the reference value related to the detection of the object in the absence of the object and the calculated value related to the detection of the object calculated based on the second complex transfer function matrix corresponding to the extracted predetermined frequency band Based on a target detection unit that detects the number of objects, the target detection unit, the number of calculated values related to the detection of the target having a value larger than a reference value related to the detection of the target, or the above A processing device is provided that detects the number of calculated values related to the detection of the object having a value equal to or greater than a reference value related to the detection of the object as the number of the objects.

  With such a configuration, for example, it is possible to determine that an object exists when a fluctuation amount larger than noise is observed. Therefore, the number of objects can be detected with this configuration.

  Further, the target detection unit, based on the extracted second complex transfer function matrix corresponding to the extracted predetermined frequency band, a reception correlation matrix indicating the correlation of the plurality of reception antennas with respect to the transmission antenna, A transmission correlation matrix indicating the correlation of the plurality of transmission antennas with respect to the reception antenna is calculated, and the reception correlation matrix and the transmission correlation matrix are subjected to eigenvalue decomposition, respectively, and the reception eigenvalue and the transmission eigenvalue are detected as the object. The reference value related to the detection of the object is the reference reception eigenvalue that is the maximum value of the reception eigenvalue when the object does not exist, and the maximum value of the transmission eigenvalue when the object does not exist A reference transmission eigenvalue, and the target detection unit compares the calculated reception eigenvalue with the reference reception eigenvalue, and Based on the result of comparison between the calculated the transmission eigenvalues and the reference transmission eigenvalues may detect the number of objects.

  The position estimation unit further includes a position estimation unit that estimates the position of the object corresponding to each of the objects whose number is detected by the object detection unit, and when the number of the detected objects is plural, the position estimation unit Is based on the reception correlation matrix and the number of detected objects to estimate the number of detection directions equal to the number of objects starting from the first reference position in the plurality of reception antennas, and the transmission correlation matrix And the number of detected objects, the number of detection directions equal to the number of objects starting from the second reference position of the plurality of transmitting antennas is estimated, and the reception correlation matrix is calculated by eigenvalue decomposition. Among the received eigenvectors, the received eigenvalue larger than the reference received eigenvalue or the received eigenvalue greater than the reference received eigenvalue. Corresponding to the transmission eigenvalue larger than the reference transmission eigenvalue or the transmission eigenvalue greater than or equal to the reference transmission eigenvalue from the transmission eigenvector calculated by identifying the eigenvector and eigenvalue decomposition of the transmission correlation matrix, A transmission eigenvector is specified, and for the reception eigenvalue corresponding to the specified reception eigenvector and the transmission eigenvalue corresponding to the specified transmission eigenvector, the order of the magnitude of the reception eigenvalue and the magnitude of the transmission eigenvalue The inner product of the plurality of transmission steering vectors corresponding to the plurality of detection directions estimated from the first reference position in the transmission antenna and the plurality of transmission eigenvectors identified. A first inner product value indicating all the transmission steering vectors and the transmission eigenvectors, A plurality of combinations calculated from the second reference position of the receiving antenna, the combination of the transmission steering vector and the transmission eigenvector that maximizes the calculated first inner product value is specified Calculating a second inner product value indicating an inner product of the plurality of reception steering vectors corresponding to the detection direction and the plurality of identified reception eigenvectors, for all combinations of the reception steering vectors and the reception eigenvectors, The combination of the received steering vector and the received eigenvector that maximizes the calculated second inner product value is specified, and the magnitude of the received eigenvalues in which the magnitude order is specified becomes the maximum received eigenvalue. The received steering vector used to calculate the corresponding second inner product value And the direction of the transmission steering vector used to calculate the first inner product value corresponding to the transmission eigenvalue having the largest magnitude among the transmission eigenvalues for which the magnitude order is specified. The second position corresponding to the second and subsequent received eigenvalues corresponds to the second received eigenvalue, the position of the first detected object is estimated based on The first inner product value corresponding to the second and subsequent transmission eigenvalues among the transmission eigenvalues for which the direction of the received steering vector and the order of the magnitudes used for calculating the inner product value are used. The detected positions of the second and subsequent objects may be estimated on the basis of the direction of the transmission steering vector used for the calculation.

  With this configuration, when a plurality of objects are detected, the positions of the plurality of objects from which the virtual image is removed can be estimated. Therefore, with this configuration, it is possible to estimate the position of the object corresponding to each object whose number is detected.

  The position estimation unit further includes a position estimation unit that estimates the position of the object corresponding to each of the objects whose number is detected by the object detection unit, and when the number of the detected objects is plural, the position estimation unit Is based on the reception correlation matrix and the number of detected objects to estimate the number of detection directions equal to the number of objects starting from the first reference position in the plurality of reception antennas, and the transmission correlation matrix And the number of detected objects, the number of detection directions equal to the number of objects starting from the second reference position of the plurality of transmitting antennas is estimated, and the reception correlation matrix is calculated by eigenvalue decomposition. Among the received eigenvectors, the received eigenvalue larger than the reference received eigenvalue or the received eigenvalue greater than the reference received eigenvalue. Corresponding to the transmission eigenvalue larger than the reference transmission eigenvalue or the transmission eigenvalue greater than or equal to the reference transmission eigenvalue from the transmission eigenvector calculated by identifying the eigenvector and eigenvalue decomposition of the transmission correlation matrix, A transmission eigenvector is specified, and for the reception eigenvalue corresponding to the specified reception eigenvector and the transmission eigenvalue corresponding to the specified transmission eigenvector, the order of the magnitude of the reception eigenvalue and the magnitude of the transmission eigenvalue And the received eigenvalue and the received eigenvector calculated by eigenvalue decomposition of the received correlation matrix are Kth in the received correlation matrix (K is 1 or more and the detected target All of the received eigenvectors corresponding to those other than the above received eigenvalues The transmission eigenvalue and the transmission eigenvector calculated by calculating the direction starting from the receiving antenna side and eigenvalue decomposition of the transmission correlation matrix correspond to other than the Kth largest transmission eigenvalue in the transmission correlation matrix. Using all the transmission eigenvectors, calculate the direction starting from the transmitting antenna side, and using both the direction calculated from the transmitting antenna side and the direction calculated from the receiving antenna side Then, the position of the object corresponding to the Kth reception eigenvalue and the transmission eigenvalue may be estimated.

  With such a configuration, the position of the object can be estimated without generating a virtual image. Therefore, with this configuration, it is possible to estimate the position of the object corresponding to each object whose number is detected.

  Further, the target detection unit performs singular value decomposition on the second complex transfer function matrix corresponding to the extracted predetermined frequency band, calculates a singular value as a calculated value related to the detection of the target, The reference value related to the detection of the object is a reference singular value that is the maximum value of the singular value when the object does not exist, and the object detection unit compares the calculated singular value with the reference singular value. Based on the result, the number of the objects may be detected.

  The position estimation unit further includes a position estimation unit that estimates the position of the object corresponding to each of the objects whose number is detected by the object detection unit, and when the number of the detected objects is plural, the position estimation unit Is based on the second complex transfer function matrix and the number of detected objects to estimate the number of detection directions equal to the number of objects starting from the first reference position in the plurality of receiving antennas, Based on the second complex transfer function matrix and the number of detected objects, a number of detection directions equal to the number of objects starting from the second reference position in the plurality of transmission antennas are estimated, and the first From the left singular vector calculated by singular value decomposition of the complex transfer function matrix of 2 to the singular value larger than the reference singular value, or the singular value greater than the reference singular value A singular value greater than the reference singular value, or the reference from among the right singular vectors calculated by identifying the corresponding left singular vector and singular value decomposition of the second complex transfer function matrix Identify the right singular vector corresponding to the singular value greater than or equal to the singular value, the singular value corresponding to the identified left singular vector, and the singular value corresponding to the identified right singular vector, A plurality of transmission steering vectors corresponding to a plurality of detection directions that are identified from the first reference position in the transmission antenna by specifying the order of the singular values and the order of the singular values. And the first inner product value indicating the inner product of the specified plurality of right singular vectors with respect to all combinations of the transmission steering vector and the right singular vector. A plurality of detection directions estimated from the second reference position of the receiving antenna as a starting point by specifying a combination of the transmission steering vector and the right singular vector that maximizes the calculated first inner product value. A second inner product value indicating the inner product of the plurality of received steering vectors corresponding to the above and the plurality of identified left singular vectors is calculated for all combinations of the received steering vectors and the left singular vectors. The combination of the received steering vector having the maximum second inner product value and the left singular vector is specified, and the magnitude of the singular values in which the order of the magnitudes is specified is the maximum singular value. The direction of the received steering vector and the order of the magnitudes used to calculate the corresponding second inner product value are specified. Based on the direction of the transmission steering vector used to calculate the first inner product value corresponding to the singular value having the largest singular value, the detected first object The position of the received steering vector of the received steering vector used for calculating the second inner product value corresponding to the second and subsequent singular values whose magnitude is among the singular values whose magnitude order is specified. A direction and a direction of the transmission steering vector used for calculating the first inner product value corresponding to the second and subsequent singular values, the magnitude of the singular values for which the magnitude order is specified; Based on the above, the positions of the detected second and subsequent objects may be estimated.

  With this configuration, when a plurality of objects are detected, the positions of the plurality of objects from which the virtual image is removed can be estimated. Therefore, with this configuration, it is possible to estimate the position of the object corresponding to each object whose number is detected.

  The position estimation unit further includes a position estimation unit that estimates the position of the object corresponding to each of the objects whose number is detected by the object detection unit, and when the number of the detected objects is plural, the position estimation unit Is based on the second complex transfer function matrix and the number of detected objects to estimate the number of detection directions equal to the number of objects starting from the first reference position in the plurality of receiving antennas, Based on the second complex transfer function matrix and the number of detected objects, a number of detection directions equal to the number of objects starting from the second reference position in the plurality of transmission antennas are estimated, and the first From the left singular vector calculated by singular value decomposition of the complex transfer function matrix of 2 to the singular value larger than the reference singular value, or the singular value greater than the reference singular value A singular value greater than the reference singular value, or the reference from among the right singular vectors calculated by identifying the corresponding left singular vector and singular value decomposition of the second complex transfer function matrix Identify the right singular vector corresponding to the singular value greater than or equal to the singular value, the singular value corresponding to the identified left singular vector, and the singular value corresponding to the identified right singular vector, Specify the order of the singular value magnitude and the order of the singular value magnitude, and the singular value and the left singular vector calculated by singular value decomposition of the second complex transfer function matrix, In the second complex transfer function matrix, all the left singular vectors corresponding to the singular values other than the singular value which is Kth (K is an integer equal to or larger than 1 and equal to or smaller than the number of detected objects) are used to receive the receiving amplifier The singular value and the right singular vector calculated by calculating the direction starting from the na side and decomposing the second complex transfer function matrix into the singular value decomposition are Kth in the second complex transfer function matrix. Calculate the direction starting from the transmitting antenna side using all the right singular vectors corresponding to other than the large singular value, the direction calculated from the transmitting antenna side and the receiving antenna side as the starting point The position of the object corresponding to the Kth singular value and the singular value may be estimated using both of the calculated directions.

  With such a configuration, the position of the object can be estimated without generating a virtual image. Therefore, with this configuration, it is possible to estimate the position of the object corresponding to each object whose number is detected.

  And a reception processing unit that demodulates signals received by the plurality of reception antennas, wherein the propagation path estimation unit processes the signals demodulated by the reception processing unit. May be.

  Moreover, you may further provide the transmission process part which transmits a signal from several said transmission antenna.

  Further, a plurality of the transmission antennas may be further provided.

  In order to achieve the above object, according to a second aspect of the present invention, a first complex transfer function matrix indicating a propagation path formed between a plurality of transmitting antennas and a plurality of receiving antennas is provided. A propagation path estimation step that is estimated based on signals transmitted from the transmission antennas and received by the plurality of reception antennas, a time response of the first complex transfer function matrix is converted into a frequency response, and a second response is obtained. A frequency response calculating step for calculating a complex transfer function matrix, an extraction step for extracting the second complex transfer function matrix corresponding to a predetermined frequency band from the calculated second complex transfer function matrix, and an object The detection of the object calculated based on the reference value related to the detection of the object in the absence of the second complex transfer function matrix corresponding to the extracted predetermined frequency band An object detection step for detecting the number of objects based on a comparison result with an output value, wherein the object detection step relates to detection of the object having a value larger than a reference value for detection of the object. There is provided a processing method in which the number of calculated values or the number of calculated values related to detection of the object having a value equal to or greater than a reference value related to the detection of the object is detected as the number of objects.

  By using such a method, for example, it is possible to determine that an object exists when a fluctuation amount larger than noise is observed. Therefore, the number of objects can be detected by using this method.

  Moreover, you may further have the position estimation step which estimates the position of the said object corresponding to each of the said object in which the number was detected in the said object detection step.

  By using such a method, it is possible to estimate the position of the object corresponding to each object whose number has been detected.

  According to the present invention, the number of objects can be detected.

  In addition, according to the present invention, it is possible to estimate the position of the object corresponding to each object whose number is detected.

It is explanatory drawing for demonstrating one method for estimating the position of a target object. It is explanatory drawing for demonstrating an example of the processing method which concerns on 1st Embodiment. It is explanatory drawing for demonstrating an example of the processing method which concerns on 1st Embodiment. It is explanatory drawing for demonstrating an example of the processing method which concerns on 1st Embodiment. It is explanatory drawing for demonstrating an example of the processing method which concerns on 1st Embodiment. It is explanatory drawing for demonstrating an example of the processing method which concerns on 1st Embodiment. It is explanatory drawing which shows an example of the processing system which concerns on embodiment of this invention including the receiver (processing apparatus) which concerns on embodiment of this invention which performs the process which concerns on the processing method which concerns on embodiment of this invention.

  Exemplary embodiments of the present invention will be described below in detail with reference to the accompanying drawings. In the present specification and drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant description is omitted.

(Processing method according to an embodiment of the present invention)
Before describing an example of the configuration of a processing apparatus according to an embodiment of the present invention, a processing method according to an embodiment of the present invention will be described. In the following description, it is assumed that the processing apparatus according to the embodiment of the present invention performs processing according to the processing method according to the embodiment of the present invention.

[1] One method for estimating the position of an object As described above, for example, as shown in Patent Documents 1 and 2, when detecting an object using the Doppler effect, the number of objects is detected. It is not always possible, and it is difficult to estimate the position of the object. For example, as shown in Non-Patent Document 1, when only the fluctuation component is extracted from the propagation channel information and the position of the detection target is estimated by the MUSIC method using the spherical mode steering vector, the array antenna width is widened. The necessity increases the size of the device, which may lead to higher cost of the device. For example, as shown in Non-Patent Document 2, when direction estimation is performed using a single array antenna, the number of objects cannot be detected, and the position of the object cannot be estimated.

  Here, as one method for estimating the position of the object, for example, a technique using an array antenna on both the transmission side and the reception side by applying the technique described in Non-Patent Document 2 is conceivable.

  FIG. 1 is an explanatory diagram for explaining one method for estimating the position of an object. By applying the technique described in Non-Patent Document 2, an array antenna is installed on both the transmission side and the reception side. An example of the method used is shown.

  O1 and O2 illustrated in FIG. 1 indicate objects, and in FIG. 1, a human body is illustrated as the object. In addition, the target object which concerns on embodiment of this invention is not restricted to a human body. Other examples of the object according to the embodiment of the present invention will be described later.

In FIG. 1, an array antenna including m _t (m _t is an integer of 2 or more) transmission antennas is provided on the transmission side, and m _r (m _r is an integer of 2 or more) reception antennas. An example is shown in which an array antenna comprising: Hereinafter, the array antenna of the transmission antenna is referred to as “transmission array antenna”, and the array antenna of the reception antenna is referred to as “reception array antenna”. In the following, a transmission antenna or a transmission array antenna may be indicated as “Tx”, and a reception antenna or a reception array antenna may be indicated as “Rx”.

When the technique described in Non-Patent Document 2 is applied and an array antenna is used on both the transmission side and the reception side, for example, the direction θ _r of the object is estimated on the reception side, and the object on the transmission side is estimated. The direction θ _t is estimated.

  For example, if there is only one object, the estimated direction of the object is only one on both the receiving side and the transmitting side, and the reference points on the receiving side and the transmitting side are Qr and Qt, respectively. The coordinates at which the straight lines extending in the direction of the object estimated from the two reference points intersect are the estimated position of the object.

  However, for example, when there are two objects, as shown in FIG. 1, a straight line extending in the direction of the object estimated from the reference point Qr on the reception side and the reference point Qt on the transmission side is Since there are four, there are four coordinates where the straight lines intersect. That is, when one method for estimating the position of the object is used, a virtual image in which the object does not actually exist is generated, for example, as indicated by V1 and V2 in FIG. Further, when one method for estimating the position of the object is used, the number of virtual images increases as the number of objects increases.

  Therefore, even if one method for estimating the position of the object is used, it is difficult to estimate the position of the object.

  In addition, when one method for estimating the position of the object is used, the number of objects needs to be known in order to estimate the direction in which the plurality of objects exist.

[2] Processing according to the processing method according to the embodiment of the present invention Then, next, it is possible to detect the number of objects and estimate the positions of the objects corresponding to the respective objects whose numbers are detected. The processing according to the processing method according to the embodiment of the present invention will be described. In the following, the processing apparatus according to the embodiment of the present invention detects the number of objects and the position of the object corresponding to each of the objects from which the number has been detected as the process according to the processing method according to the embodiment of the present invention. A case where estimation is performed as a series of processes will be described as an example.

  Here, examples of the object according to the embodiment of the present invention include living bodies such as human bodies and animals. In addition, the target object which concerns on embodiment of this invention is not restricted to a biological body. For example, the object according to the embodiment of the present invention includes any object that can detect a specific frequency component. Below, the case where the target object which concerns on embodiment of this invention is a human body is mentioned as an example.

  In addition, the processing apparatus which concerns on embodiment of this invention can also perform only the process which concerns on the detection of the number of objects as a process which concerns on the processing method which concerns on embodiment of this invention, for example. Even when the processing device according to the embodiment of the present invention performs only the processing related to the detection of the number of objects, the processing device according to the embodiment of the present invention can detect the number of objects. An example of processing included in processing related to detection of the number of objects according to the embodiment of the present invention will be described later.

  In addition, when the processing device according to the embodiment of the present invention performs only the processing related to the detection of the number of objects, the processing related to the estimation of the position of the object described below is performed by, for example, the processing device according to the embodiment of the present invention You may perform in the position estimation apparatus which concerns on embodiment of this invention which is an external device.

  Therefore, a series of processes of “detection of the number of objects” and “estimation of the position of the object corresponding to each object for which the number is detected” described below is performed by, for example, one apparatus (for example, implementation of the present invention). Or a processing system having a plurality of devices (for example, a processing device according to an embodiment of the present invention and a position estimation device according to an embodiment of the present invention). May be performed.

[2-1] Processing According to Processing Method According to First Embodiment The processing device according to the embodiment of the present invention detects the number of objects and estimates the position of the object by using a radio signal. The processing apparatus according to the embodiment of the present invention, for example, estimates the transfer function of each propagation path formed between the transmission array antenna and the reception array antenna, thereby forming a propagation path based on the estimation result of the transfer function. The number of objects existing in a predetermined area is detected, and the position of the object is estimated.

  More specifically, the processing apparatus according to the embodiment of the present invention includes, for example, a “propagation channel estimation process”, “frequency response calculation process”, “extraction process”, “target detection process”, and “position” described below. By performing the “estimation process”, the number of objects is detected and the position of the object is estimated. Here, for example, “propagation channel estimation processing”, “frequency response calculation processing”, “extraction processing”, and “target detection processing” described below correspond to processing included in processing related to detection of the number of objects.

(1) Propagation path estimation processing When receiving m _t signals transmitted by the transmission array antenna using the m _r reception antennas, between the transmission array antenna Tx and the reception array antenna Rx, There are m _t × m _r transmission paths. The processing apparatus according to the embodiment of the present invention, for example, based on a signal transmitted from a transmission array antenna Tx (a plurality of transmission antennas) and received by a reception array antenna Rx (a plurality of reception antennas), And a complex transfer function matrix H (t) indicating a propagation path formed between the receiving array antenna Rx and the reception array antenna Rx (propagation path estimation process). Hereinafter, the complex transfer function matrix H (t) may be referred to as “first complex transfer function matrix” or “first complex transfer function matrix H (t)”.

Here, the transfer function when transmitted from the j-th (j is an integer of 1 or more) transmission antenna Txj and received by the i-th (i is an integer of 1 or more) reception antenna Rxi is represented by h _ij ( t), a matrix of m _r rows and m _t columns having a transfer function h _ij (t) as the (i, j) component is the first complex transfer function matrix H (t). The first complex transfer function matrix H (t) is expressed by, for example, Equation 1 below. “T” shown in Equation 1 is the time when the first complex transfer function matrix H (t) is acquired, that is, the time when the signal that is the calculation source of the first complex transfer function matrix H (t) is received. Is shown.

(2) Frequency Response Calculation Processing For example, when the first complex transfer function matrix H (t) is estimated by Equation 1 above, the processing apparatus according to the embodiment of the present invention, for example, uses the first complex transfer function matrix H The time response of (t) is converted into a frequency response to calculate a complex transfer function matrix F (f) (frequency response calculation process). Hereinafter, the complex transfer function matrix F (f) may be referred to as a “second complex transfer function matrix” or a “second complex transfer function matrix F (f)”.

More specifically, the processing apparatus according to the embodiment of the present invention, for example, changes along the time series of the first complex transfer function matrix H (t) at time t, that is, the time of h _ij (t). The frequency response F _ij (f) of each propagation path is calculated for each frequency by performing a Fourier transform on the response. That is, the processing apparatus according to the embodiment of the present invention uses the second complex transfer function matrix for each frequency with the frequency response F _ij (f) of each propagation path calculated for each frequency as the (i, j) component. F (f) is calculated. The second complex transfer function matrix F (f) is expressed by, for example, Equation 2 below.

  The processing apparatus according to the embodiment of the present invention uses, for example, the second complex transfer function matrix F (f) calculated by the Fourier transform and expressed by the above-described mathematical formula 2, and performs the following procedure processing (extraction processing, object detection). Process and position estimation process), the number of objects is detected and the position of the object is estimated.

(3) Extraction Processing The processing apparatus according to the embodiment of the present invention uses the second complex transfer function matrix F (f) corresponding to a predetermined frequency band from the calculated second complex transfer function matrix F (f). Is extracted (extraction process). The extraction process according to the embodiment of the present invention corresponds to, for example, a process of extracting a matrix in a frequency band specific to an object other than a direct current of a Fourier-transformed complex transfer function matrix F (f).

  For example, when the object is a human body, the second complex transfer function matrix F (f) includes a frequency component including a frequency unique to the biological reaction of the human body such as respiration and heartbeat. Here, the processing apparatus according to the embodiment of the present invention uses the second complex transfer function corresponding to only the frequency component peculiar to the human body (an example of a predetermined frequency band) from the second complex transfer function matrix F (f). By extracting the matrix F (f), it is possible to improve the detection accuracy of the number of human bodies and the estimation accuracy of estimation of the position of the human body.

  Here, examples of the predetermined frequency band according to the embodiment of the present invention include a frequency band of 0.15 [Hz] to 1.6 [Hz] (when the object is a human body). When the object is a human body, the predetermined frequency band is set to a frequency band of 0.15 [Hz] to 1.6 [Hz], so that the detection accuracy of a higher number of human bodies and higher It is possible to obtain the estimation accuracy of the estimation of the position of the human body. The predetermined frequency band according to the embodiment of the present invention is not limited to the example shown above. For example, the predetermined frequency band according to the embodiment of the present invention includes an arbitrary frequency band including a specific frequency component corresponding to the object.

  Further, the predetermined frequency band according to the embodiment of the present invention may be, for example, a fixed frequency band set in advance, or a variable frequency band that can be changed based on a user operation or the like. There may be. The processing apparatus according to the embodiment of the present invention performs the extraction process according to the embodiment of the present invention with reference to, for example, information indicating a predetermined frequency band stored in the recording medium. Here, examples of the predetermined recording medium according to the embodiment of the present invention include a ROM (Read Only Memory) and a nonvolatile memory such as a flash memory. In addition, as information indicating the predetermined frequency band according to the embodiment of the present invention, for example, data indicating the frequency band (data), or a table (or database) in which the target object and the frequency band are associated with each other data base)).

(4) Object detection process and position estimation process The processing apparatus according to the embodiment of the present invention is based on “a reference value for detection of an object when no object exists” and “the extraction process shown in (3) above”. The number of objects is detected based on a comparison result with a “calculated value related to object detection” calculated based on the extracted second complex transfer function matrix F (f) (object detection processing). More specifically, the processing apparatus according to the embodiment of the present invention detects, for example, the number of calculated values related to detection of an object having a value larger than a reference value related to detection of the object as the number of objects. In addition, the processing apparatus according to the embodiment of the present invention may detect, for example, the number of calculated values related to detection of an object having a value equal to or higher than a reference value related to detection of the object as the number of objects.

  Here, as the calculated values related to the detection of the object according to the embodiment of the present invention, for example, a reception correlation matrix (described later) and a transmission correlation matrix (described later) based on the second complex transfer function matrix are respectively eigenvalues. A reception eigenvalue (described later) and a transmission eigenvalue (described later) obtained by decomposing can be mentioned. In addition, the calculated value regarding the detection of the target object which concerns on embodiment of this invention is not restricted above. For example, the calculated value related to the detection of the object according to the embodiment of the present invention is obtained by performing singular value decomposition on the second complex transfer function matrix F (f) extracted by the extraction process shown in (3) above. May be a singular value (described later). The processing method according to the first embodiment shows a case where the calculated values related to the detection of the object according to the embodiment of the present invention are a reception eigenvalue (described later) and a transmission eigenvalue (described later).

  In addition, as reference values related to detection of an object according to an embodiment of the present invention, for example, a reference reception eigenvalue (described later) that is a reference value corresponding to the reception eigenvalue (described later) and the transmission eigenvalue (described later). ) Is a reference transmission eigenvalue (which will be described later) which is a reference value corresponding to. In addition, the reference value regarding the detection of the target object which concerns on embodiment of this invention is not restricted above. For example, the reference value related to the detection of the object according to the embodiment of the present invention may be a reference singular value (described later) that is a reference value corresponding to the singular value (described later). In the processing method according to the first embodiment, the reference value related to the detection of the object according to the embodiment of the present invention is a reference reception eigenvalue (described later) and a reference transmission eigenvalue (described later).

  Further, the processing device according to the embodiment of the present invention estimates, for example, the position of the object corresponding to each object whose number is detected in the object detection process (position estimation process). The processing apparatus according to the embodiment of the present invention estimates, for example, the detection direction of each object whose number has been detected on the reception array antenna Rx side and the transmission array antenna Tx side, and corresponds to each object. Estimate the position of the object.

  Hereinafter, the object detection process and the position estimation process according to the first embodiment will be described more specifically.

  First, a method for estimating the direction of an object on the receiving array antenna Rx side (hereinafter sometimes referred to as “receiving side”) will be described.

  Here, the direction of the object on the receiving side estimated by the method of estimating the direction of the object on the receiving side according to the embodiment of the present invention is the method of estimating the position of the object according to the embodiment of the present invention described later. It is used in the process concerning. That is, it can be said that the process according to the method of estimating the direction of the object on the receiving side according to the embodiment of the present invention is a process included in the position estimation process according to the embodiment of the present invention.

The processing apparatus according to the embodiment of the present invention, for example, receives a reception correlation matrix corresponding to the reception array antenna Rx based on the second complex transfer function matrix F (f) extracted by the extraction process shown in (3) above. R _r is calculated. The reception correlation matrix R _r is expressed by, for example, Equation 3 below. Here, “{·} ^H ” indicates complex conjugate transpose.

For example, as shown in Formula 3, the reception correlation matrix R _r is between predetermined frequency bands corresponding to the object (for example, 0.15 [Hz] to 1.6 [Hz when the object is a human body). ]). By the above averaging, for example, it is possible to extract only a component derived from an object such as a human body derived component, and it is possible to improve the accuracy of direction estimation of the object.

Then, the processing apparatus according to an embodiment of the present invention, for example as shown in Equation 4 below, the calculated reception correlation matrix R _r and eigenvalue decomposition, and eigenvectors U reception correlation matrix R _r, the eigenvector U A complex conjugate transposed vector U ^H is calculated. Hereinafter, the eigenvector U may be referred to as a “reception eigenvector”.

The eigenvector U shown in Expression 4 is expressed by Expression 5 below, for example. Here, “u _i ” shown in Equation 5 represents the eigenvector of the i-th column, and the number of elements is _mr .

Further, “D _r ” shown in Expression 4 is a diagonal matrix whose diagonal elements are eigenvalues, and is expressed by, for example, Expression 6 below.

Next, the processing apparatus according to the embodiment of the present invention estimates the direction of the object from the receiving array antenna Rx. The processing apparatus according to the embodiment of the present invention obtains an estimation result of the direction of the object by calculating an evaluation function P _r (θ _r ) shown in Equation 7 below, for example.

Here, “L” (1 ≦ L ≦ m _r −1) shown in Expression 7 represents the number of objects. That is, if the processing method according to the first embodiment is used, the number of antennas m _r of the receiving array antenna Rx needs to be larger than the number of objects L.

In addition, “ _ar (θ _r )” shown in Expression 7 is a steering vector on the receiving side (hereinafter sometimes referred to as “reception steering vector”), and is expressed by Expression 8 below.

Each element of the reception steering vector a _r (θ _r ) shown in Equation 8 is determined based on the position of each reception antenna from the reference position. For example, in Equation 7, since attention is paid to the reception correlation matrix _{R r,} each element of the received steering vector _{a r (θ r),} for example with reference to the reference position _{Q r} shown in FIG. 1, the receiving antennas _Rx 1 ~ Rx _mr is determined based on each position. Here, the reference position (first reference position) in the receiving array antenna Rx according to the embodiment of the present invention may be, for example, a preset fixed position or may be changed based on a user operation or the like. It may be a variable position.

The characteristic of the evaluation function value P _r (θ _r ) with respect to the direction θ _r of the object estimated on the receiving side, which is obtained by the above equation 7, is called a MUSIC spectrum, and the peak position θ _r is the target Corresponds to the direction of the object.

The processing apparatus according to the embodiment of the present invention obtains the estimation result of the direction of the object by calculating the evaluation function P _r (θ _r ) shown in Equation 7 as described above, for example.

Here, the number of objects “L” shown in Equation 7 above is obtained by processing related to the method for detecting the number of objects according to an embodiment of the present invention described later (processing corresponding to the object detection processing according to the embodiment of the present invention). Detected. Therefore, the processing apparatus according to the embodiment of the present invention is based on the reception correlation matrix R _r and the number of detected objects, and the number of objects starting from the reference position Q _r (an example of the first reference position) An equal number of detection directions can be estimated.

  Next, a method for estimating the direction of an object on the transmission array antenna Tx side (hereinafter, sometimes referred to as “transmission side”) will be described.

  Here, the direction of the object on the transmission side estimated by the method of estimating the direction of the object on the transmission side according to the embodiment of the present invention is the method of estimating the position of the object according to the embodiment of the present invention described later. It is used in the process concerning. That is, it can be said that the process according to the method of estimating the direction of the object on the transmission side according to the embodiment of the present invention is a process included in the position estimation process according to the embodiment of the present invention.

The processing apparatus according to the embodiment of the present invention, for example, based on the second complex transfer function matrix F (f) extracted by the extraction process shown in (3) above, a transmission correlation matrix corresponding to the transmission array antenna Tx. _Rt is calculated. The transmission correlation matrix R _t is expressed by, for example, Equation 9 below.

For example, as shown in Expression 9, the transmission correlation matrix R _t is similar to the reception correlation matrix R _r between predetermined frequency bands corresponding to the object (for example, 0.15 when the object is a human body). [Hz] to 1.6 [Hz]).

Processing apparatus according to an embodiment of the present invention, for example as shown in Equation 10 below, the calculated reception correlation matrix R _r and eigenvalue decomposition, and eigenvectors V reception correlation matrix R _r, the complex conjugate transpose of the eigenvector V A vector V ^H is calculated. Hereinafter, the eigenvector V may be referred to as a “transmission eigenvector”.

The eigenvector V shown in Expression 10 is expressed by the following Expression 11, for example. Here, _{"v i"} is shown in Equation 11 shows the eigenvectors of i-th column, the number of elements is _{m t.}

Further, “D _t ” shown in Expression 10 is a diagonal matrix whose diagonal elements are eigenvalues, and is expressed by, for example, Expression 12 below.

  Next, a method for estimating the direction of the object from the transmission array antenna Tx will be described.

The processing apparatus according to the embodiment of the present invention calculates, for example, an evaluation function P _t (θ _t ) represented by the following Equation 13 similarly to the direction estimation of the object from the receiving array antenna Rx represented by the Equation 7. Thus, the estimation result of the direction of the object is obtained.

Here, “L” (1 ≦ L ≦ m _t −1) shown in Expression 13 represents the number of objects. That is, when the processing method according to the first embodiment is used, the number of antennas m _t of the transmission array antenna needs to be larger than the number L of objects, similarly to the number of antennas m _r of the reception array antenna.

Further, “a _t (θ _t )” shown in Expression 13 is a steering vector on the transmission side (hereinafter sometimes referred to as “transmission steering vector”), and is expressed by Expression 14 below.

Each element of the transmission steering vector a _t (θ _t ) shown in Equation 14 is determined based on the position of each transmission antenna from the reference position. For example, in Equation 14, since the focus on transmit correlation matrix _{R t,} each element of the transmit steering vector _{a t (θ t),} for example with reference to the reference position _{Q t} shown in FIG. 1, the transmitting antenna _Tx 1 ~ It is determined based on the position of each Tx _mt . Here, the reference position (second reference position) in the transmission array antenna Tx according to the embodiment of the present invention may be, for example, a preset fixed position or may be changed based on a user operation or the like. It may be a variable position.

The characteristic of the evaluation function value P _t (θ _t ) with respect to the direction θ _t of the object estimated on the transmission side, obtained by the above equation 13, is called a MUSIC spectrum, and the peak position θ _t is the direction of the object. Corresponding to

The processing apparatus according to the embodiment of the present invention obtains the estimation result of the direction of the object by calculating the evaluation function P _t (θ _t ) shown in Equation 13 as described above, for example.

Here, the number of objects “L” shown in Equation 13 above is obtained by a process (a process corresponding to the object detection process according to the embodiment of the present invention) related to a method for detecting the number of objects according to the embodiment of the present invention described later. Detected. Therefore, the processing device according to the embodiment of the present invention, based on the transmission correlation matrix R _t and the number of detected objects, the number of objects starting from the reference position Q _t (an example of the second reference position) An equal number of detection directions can be estimated.

  Next, a method for detecting the number of objects according to the embodiment of the present invention will be described. Here, the process according to the method for detecting the number of objects according to the embodiment of the present invention corresponds to, for example, the object detection process according to the embodiment of the present invention.

The processing apparatus according to the embodiment of the present invention obtains the maximum eigenvalue (λ _r0 , λ _t0 ) when there is no object on each of the reception side and the transmission side, which is obtained as a result of performing the above-described processing when there is no object. ) To detect the number of objects.

Here, the maximum eigenvalue λ _r0 on the reception side corresponds to the reference reception eigenvalue according to the embodiment of the present invention. The maximum eigenvalue λ _t0 on the transmission side corresponds to the reference transmission eigenvalue according to the embodiment of the present invention.

Further, the maximum eigenvalues (λ _r0 , λ _t0 ) may be calculated by the processing apparatus according to the embodiment of the present invention or may be calculated by an external apparatus. The maximum eigenvalue (λ _r0 , λ _t0 ) is stored in, for example, a recording medium, and the processing device according to the embodiment of the present invention reads the maximum eigenvalue (λ _r0 , λ _t0 ) from the recording medium and implements the present invention. Used for object detection processing according to the form.

More specifically, the processing device according to the embodiment of the present invention obtains, for example, the number of eigenvalues _satisfying “λ _i > λ _r0 ” on the reception side and “λ _j > λ _t0 ” on the transmission side. The number of objects is obtained by obtaining the number of eigenvalues. The processing apparatus according to the embodiment of the present invention sets, for example, the maximum value of the number of eigenvalues _satisfying “λ _i > λ _r0 ” and the number of eigenvalues _satisfying “λ _j > λ _t0 ” as the number of objects.

Here, “λ _i ” is an eigenvalue obtained by eigenvalue decomposition of the reception correlation matrix R _r and corresponds to the reception eigenvalue according to the embodiment of the present invention. “Λ _j ” is an eigenvalue obtained by eigenvalue decomposition of the transmission correlation matrix R _t and corresponds to the transmission eigenvalue according to the embodiment of the present invention.

“Λ _i ” and “λ _j ” are, for example, the above-mentioned “processing according to the method of estimating the direction of an object on the receiving side according to the embodiment of the present invention” and the above “transmission side according to the embodiment of the present invention Is obtained by eigenvalue decomposition in "Processing according to method for estimating direction of object in". Note that “λ _i ” and “λ _j ” may be obtained, for example, by performing eigenvalue decomposition anew in the process related to the method for detecting the number of objects according to the embodiment of the present invention.

Note that the processing apparatus according to the embodiment of the present invention obtains, for example, the number of eigenvalues _satisfying “λ _i ≧ λ _r0 ” on the receiving side, and the number of eigenvalues _satisfying “λ _j ≧ λ _t0 ” on the transmitting side. The number of objects may be obtained by obtaining.

  FIG. 2 is an explanatory diagram for explaining an example of a processing method according to the first embodiment, and shows an example of a measurement environment. In the measurement environment shown in FIG. 2, the transmission array antenna Tx and the reception array antenna Rx are arranged so as to face each other in an indoor environment of 6.0 [m] × 7.0 [m]. The person who is the object is stationary between the receiving array antenna Rx. 2 shows an example in which there are two objects, but the number of objects in the measurement environment shown in FIG. 2 is not limited to two.

  Moreover, FIG. 3 is explanatory drawing for demonstrating an example of the processing method which concerns on 1st Embodiment, in the case where a target object exists and the case where a target object does not exist in the measurement environment shown in FIG. 3 shows an example of the result of calculating the eigenvalue. FIG. 3 shows an example in which eigenvalues are arranged in descending order and numbers are assigned in descending order. 3 corresponds to the reference reception eigenvalue according to the embodiment of the present invention or the reference transmission eigenvalue according to the embodiment of the present invention.

  For example, as shown in FIG. 3, it can be seen that when the object exists, the value of the eigenvalue becomes larger than when the object does not exist as a whole.

  Here, when there is no object, the channel should be fixed, but there are a plurality of eigenvalues. The reason why there are a plurality of eigenvalues in the absence of the object is that the apparent channel varies due to noise. That is, when a fluctuation amount larger than noise is observed, it can be determined that an object exists.

  Therefore, the processing apparatus according to the embodiment of the present invention sets, for example, the number of eigenvalues larger than the maximum eigenvalue (reference reception eigenvalue, reference transmission eigenvalue) when no object exists as the number of objects existing in the detection range.

  For example, when there are two objects, paying attention to the eigenvalues in the detection range, the first eigenvalue and the second eigenvalue are the maximum eigenvalues caused by noise (see “Maximum Eigenvalue of Noise” shown in FIG. 3). ”) Indicates greater variation. Further, the third eigenvalue is less than or equal to the maximum eigenvalue caused by noise, which is considered to be a fluctuation component less than or equal to the noise power. That is, it is considered that the third eigenvalue and subsequent values are derived from noise that is not an object. Therefore, in the above case, since there are two eigenvalues equal to or greater than the reference value, the processing apparatus according to the embodiment of the present invention can determine that there are two objects.

  The processing apparatus according to the embodiment of the present invention detects the number of objects based on a comparison result between a reference value related to object detection and a calculated value related to object detection, for example, by performing the above-described processing. can do. In the above description, it is assumed that the amplitude of the channel matrix is not normalized, but it is only necessary to store the relative amplitude of the channel matrix when the object does not exist and when the object exists.

  Next, a method for estimating the position of the object according to the embodiment of the present invention will be described.

  FIG. 4 is an explanatory diagram for explaining an example of the processing method according to the first embodiment. For example, an example of the estimation result of the direction of the object estimated by the above-described method of estimating the direction of the object is illustrated. Show.

Here, FIG. 4 shows an example of the MUSIC spectrum with respect to the steering vector direction θ _r on the receiving array antenna Rx side calculated by, for example, Equation 7 above. In FIG. 4, the reception array antenna Rx in the case where there are three objects O1 to O3 in the directions of “−40 [deg]”, “−20 [deg]”, and “20 [deg]”. It shows an example of a MUSIC spectrum for steering vector direction theta _r on the side.

As shown in FIG. 4, the MUSIC spectrum has a maximum in three directions “−42 [deg]”, “−18 [deg]”, and “26 [deg]” (the peak position θ _r described above). , Sometimes referred to as “peak”).

  However, in the MUSIC spectrum shown in FIG. 4, it cannot be determined which eigenvalue corresponds to which local maximum.

  Therefore, the processing apparatus according to the embodiment of the present invention obtains the correspondence between the eigenvalue and the steering vector by, for example, calculating the inner product value of the steering vector corresponding to the maximum and the eigenvector corresponding to the eigenvalue.

FIG. 5 is an explanatory diagram for explaining an example of the processing method according to the first embodiment, in which three steering vectors corresponding to the peak direction of the MUSIC spectrum shown in FIG. 4 and received eigenvectors u ₁ ,. an example of results of calculating the inner product of all combinations of u ₄ are shown in tabular form.

When attention is paid to each column of the table shown in FIG. 5, it can be seen that there is a combination having the largest inner product. From the combination with the largest inner product, the relationship between the eigenvalue and the steering vector can be known. For example, the eigenvector corresponding to the steering vector of “−42 [deg]” is u ₃ , and the peak of “−42 [deg]” corresponds to the third eigenvalue.

  Here, the processing apparatus according to the embodiment of the present invention specifies, for example, the magnitude of the eigenvalue corresponding to the received eigenvector. Then, the processing apparatus according to the embodiment of the present invention assigns eigenvector numbers in the order of eigenvalues, for example, as shown in FIG.

  In FIG. 5, “−42 [deg]” has the largest inner product in the combination corresponding to the third eigenvector (O1 in FIG. 5), and thus the peak of “−42 [deg]” is large. Corresponds to the third eigenvalue. Similarly, in “−18 [deg]”, the inner product is the largest in the combination corresponding to the first eigenvector (O2 in FIG. 5), so the peak of “−18 [deg]” has a magnitude of It can be seen that this corresponds to the first eigenvalue. Further, in “26 [deg]”, the inner product is the largest in the combination corresponding to the second eigenvector (O3 in FIG. 5), so the peak of “26 [deg]” is the second in magnitude. It can be seen that it corresponds to the eigenvalue.

In the processing apparatus according to the embodiment of the present invention, the MUSIC for the steering vector direction θ _t on the transmission array antenna Tx side calculated on the transmission array antenna Tx side, for example, is calculated on the transmission array antenna Tx side as well as on the reception array antenna Rx side. The correspondence between the spectrum peak and the eigenvalue is obtained.

Here even if the number of antennas is equal to the transmission array antenna Tx and the receiving array antenna Rx, the eigenvalues obtained from the eigenvalues and reception correlation matrix R _r determined from the transmission correlation matrix R _t, necessarily coincide Do not mean. However, for example, when the eigenvalues are arranged in descending order, the i-th eigenvalue is close to each other. Therefore, each i-th eigenvalue obtained from the transmission correlation matrix R _t and the reception correlation matrix R _r can correspond to the same object.

Therefore, when there are a plurality of objects detected by the object detection processing according to the embodiment of the present invention, the processing device according to the embodiment of the present invention, for example, “the peak position θ of the MUSIC spectrum on the receiving side” direction of the object estimated by _r "," direction of the object estimated by the peak position theta _t of MUSIC spectrum at the transmitting side ", and obtained as above" correspondence between peaks and eigenvalues of MUSIC spectrum ", For example, the positions of a plurality of objects from which virtual images as shown by V1 and V2 in FIG. 1 are removed can be estimated.

Further, when the object is one person, for example, virtual images as indicated by V1 and V2 in FIG. 1 do not occur. Therefore, when the number of objects detected by the object detection process according to the embodiment of the present invention is one, the processing apparatus according to the embodiment of the present invention, for example, “the peak position θ of the MUSIC spectrum on the receiving side” direction of the object estimated by _r ", and" the direction "of the object estimated by the peak position theta _t of MUSIC spectrum at the transmitting side, it is possible to estimate the position of the object.

  FIG. 6 is an explanatory diagram for explaining an example of the processing method according to the first embodiment, and shows an example of a result of estimating the position of the object when there are two objects.

  In the case where there are two objects, for example, as shown with reference to FIG. 1, when using one method for estimating the position of the object (or simply determining the position of the object from only the MUSIC spectrum). When estimating), four positions including a virtual image are estimated by four intersections.

  On the other hand, when the processing method according to the first embodiment is used, it is possible to estimate the position of the object by removing the virtual image, so that the virtual image is removed as shown in FIG. Two other positions are estimated by the two intersections.

  Here, in FIG. 6, an error of about 30 [cm] occurs between the actual position of the object and the estimated position of the object. However, the error is equivalent to the width of the human body that is the object, and can be said to be an allowable estimation error.

  Therefore, the processing apparatus according to the embodiment of the present invention can estimate the positions of a plurality of detected objects with high accuracy by performing, for example, the processing as described above. As described above, the processing apparatus according to the embodiment of the present invention can estimate the position of the target object even if the number of detected target objects is one.

  Therefore, the processing apparatus according to the embodiment of the present invention can estimate the position of the object corresponding to each object whose number is detected.

  The process related to the processing method according to the embodiment of the present invention is not limited to the process related to the processing method according to the first embodiment described above.

  Hereinafter, as another example of processing related to the processing method according to the embodiment of the present invention, processing related to the processing method according to the second embodiment and processing related to the processing method according to the third embodiment will be described. . The processing according to the second embodiment described below and the processing according to the third embodiment are different from the processing according to the first embodiment described above. The processing to be performed will be described, and description of processing that is the same as processing related to the processing method according to the first embodiment described above will be omitted.

[2-2] Processing According to the Processing Method According to the Second Embodiment When performing the processing according to the processing method according to the first embodiment described above, the processing device according to the embodiment of the present invention is, for example, the formula 7 above. The direction of the object from the receiving side was estimated by calculating the evaluation function P _r (θ _r ) shown in FIG.

On the other hand, the processing apparatus according to the embodiment of the present invention that performs the processing according to the processing method according to the second embodiment calculates, for example, the evaluation function P _r (θ _r , K) represented by the following Expression 15. By doing so, the direction of the object from the receiving side is estimated.

Here, “K” (K is an integer of 1 ≦ K ≦ L, and L is the total number of objects) shown in Equation 15 above indicates the number of the object. In addition, the “L” that is the total number of objects is detected by the process related to the method for detecting the number of objects according to the above-described embodiment of the present invention (process corresponding to the object detection process according to the embodiment of the present invention). Is done. That is, when the processing method according to the second embodiment is used, as in the case of processing method according to the first embodiment described above is used, the number of antennas m _r of the receiving array antenna, the number of objects L Need to be bigger than.

  The processing apparatus according to the embodiment of the present invention estimates the direction of the object from the Kth receiving side based on the MUSIC spectrum of the Kth object obtained by, for example, Equation 15 above. The processing apparatus which concerns on embodiment of this invention estimates the direction of the target object from a receiving side with respect to each target object in which the number was detected.

In addition, when performing the processing according to the processing method according to the first embodiment described above, the processing apparatus according to the embodiment of the present invention calculates, for example, the evaluation function P _t (θ _t ) expressed by the mathematical formula 13 described above. The direction of the object from the transmission side was estimated.

On the other hand, the processing apparatus according to the embodiment of the present invention that performs the processing according to the processing method according to the second embodiment calculates, for example, the evaluation function P _t (θ _t , K) represented by the following Expression 16. By doing so, the direction of the object from the transmission side is estimated.

Here, “K” (K is an integer of 1 ≦ K ≦ L, and L is the total number of objects) shown in the above equation 16 indicates the number of the object. In addition, the “L” that is the total number of objects is detected by the process related to the method for detecting the number of objects according to the above-described embodiment of the present invention (process corresponding to the object detection process according to the embodiment of the present invention). Is done. That is, when the processing method according to the second embodiment is used, similarly to the case where the processing method according to the first embodiment described above is used, the number of antennas mt of the transmission array antenna is _equal to the number of objects L. Need to be bigger than.

  The processing apparatus according to the embodiment of the present invention estimates the direction of the object from the K-th transmission side, for example, from the MUSIC spectrum of the K-th object obtained by Equation 16 above. The processing apparatus which concerns on embodiment of this invention estimates the direction of the target object from a transmission side with respect to each target object in which the number was detected.

The processing apparatus according to the embodiment of the present invention that performs the processing according to the processing method according to the second embodiment, for example, includes the evaluation function P _r (θ _r , K) shown in Formula 15 and the evaluation shown in Formula 16 above. Using the function P _t (θ _t , K), the direction of the object from each of the reception side and the transmission side is estimated for each object whose number is detected.

Further, the processing related to the processing method according to the second embodiment is basically the same as the processing related to the processing method according to the first embodiment described above, except for the processing related to estimation of the direction of the object. Therefore, the processing apparatus according to the embodiment of the present invention that performs the processing according to the processing method according to the second embodiment receives, for example, the reception estimated by the evaluation function P _r (θ _r , K) _expressed by the above formula 15. Based on the direction of the Kth object from the transmission side and the direction of the Kth object from the transmission side estimated by the evaluation function P _t (θ _t , K) shown in Equation 16 above. It is possible to estimate the position of the object.

  Here, when the process which concerns on the processing method which concerns on 2nd Embodiment is performed, a position is estimated for every target object about each target object from which the number was detected. Therefore, when the processing according to the processing method according to the second embodiment is performed, the processing apparatus according to the embodiment of the present invention does not generate a virtual image as illustrated in FIG. Can be estimated.

[2-3] Processing according to the processing method according to the third embodiment In the processing according to the processing method according to the first embodiment described above and the processing according to the processing method according to the second embodiment described above, for example, Eigenvalue decomposition of the second complex transfer function matrix F (f) corresponding to a predetermined frequency band extracted from the second complex transfer function matrix F (f) shown in Equation 2 to detect the number of objects; The position of the object was estimated.

  On the other hand, the processing apparatus according to the embodiment of the present invention, which performs processing according to the processing method according to the third embodiment, is, for example, the second complex transfer function matrix corresponding to the extracted predetermined frequency band. Singular value decomposition of F (f).

  Then, the processing apparatus according to the embodiment of the present invention, which performs the processing according to the processing method according to the third embodiment, detects the singular value obtained by the singular value decomposition, and detects the object according to the embodiment of the present invention. The number of objects is detected in the same manner as the processing related to the processing method according to the first embodiment described above.

Here, when the processing according to the processing method according to the third embodiment is performed, the reference singular value that is the maximum value of the singular values when the target does not exist is the target according to the embodiment of the present invention. It is used as a reference value for detection of. The reference singular value may be calculated by the processing apparatus according to the embodiment of the present invention or may be calculated by an external apparatus. The reference singular value is stored in, for example, a recording medium in the same manner as the maximum eigenvalue (λ _r0 , λ _t0 ) in the processing according to the processing method according to the first embodiment described above, and the processing device according to the embodiment of the present invention Then, the reference singular value is read from the recording medium.

  In addition, the processing apparatus according to the embodiment of the present invention that performs processing according to the processing method according to the third embodiment calculates a right singular vector and a left singular vector by singular value decomposition.

  The processing apparatus according to the embodiment of the present invention that performs processing according to the processing method according to the third embodiment transmits the calculated right singular vector in the processing according to the processing method according to the first embodiment described above. Using the calculated left singular vector as an eigenvector as a reception eigenvector in the processing related to the processing method according to the first embodiment described above, the position of each object whose number is detected is estimated. More specifically, the processing apparatus according to the embodiment of the present invention that performs the processing according to the processing method according to the third embodiment uses the calculated right singular vector and left singular vector, for example. By performing the process according to the processing method according to the first embodiment or the process according to the above-described processing method according to the second embodiment, the position of each object whose number is detected is estimated.

  More specifically, the processing apparatus according to the embodiment of the present invention that performs the processing according to the processing method according to the third embodiment is, for example, a complex represented by Equation 2 as shown in Equation 17 below. A complex transfer function matrix F (f) corresponding to a predetermined frequency band extracted from the transfer function matrix F (f) is obtained between predetermined frequency bands corresponding to the object (for example, when the object is a human body). Is averaged at 0.15 [Hz] to 1.6 [Hz]), and singular value decomposition is performed. “U” shown in Equation 17 below indicates the left singular vector, and “V” shown in Equation 17 below indicates the right singular vector. Further, “Σ” shown in the following Expression 17 represents a singular value.

  The processing apparatus according to the embodiment of the present invention that performs processing according to the processing method according to the third embodiment uses, for example, the singular value Σ and the reference singular value, and performs the processing according to the first embodiment described above. Similar to the process according to the method, the number of objects is detected.

  In addition, the processing apparatus according to the embodiment of the present invention that performs the processing according to the processing method according to the third embodiment, for example, the processing according to the processing method according to the first embodiment described above or the second processing described above. The transmission eigenvector in the processing according to the processing method according to the embodiment is replaced with the right singular vector V, and the processing according to the processing method according to the first embodiment described above or the processing method according to the second embodiment described above. The received eigenvector in the processing is replaced with the left singular vector U, and the same processing as the processing related to the processing method according to the first embodiment described above or the processing related to the processing method according to the second embodiment described above is performed. .

  Therefore, the processing apparatus according to the embodiment of the present invention that performs the processing according to the processing method according to the third embodiment can remove a virtual image even when the number of detected objects is plural. Therefore, it is possible to estimate the position of each object whose number is detected (when processing similar to the processing related to the processing method according to the first embodiment described above is performed). In addition, the processing apparatus according to the embodiment of the present invention that performs the processing according to the processing method according to the third embodiment does not generate a virtual image even when there are a plurality of detected objects. It is possible to estimate the position of each of the detected objects (when processing similar to the processing related to the processing method according to the second embodiment described above is performed).

(Processing device according to an embodiment of the present invention)
Next, an example of the configuration of the processing apparatus according to the embodiment of the present invention capable of performing the processing according to the processing method according to the embodiment of the present invention described above will be described. Below, the case where the processing apparatus which concerns on embodiment of this invention is applied to a receiver is mainly mentioned as an example.

  FIG. 7 illustrates an example of the processing system 1000 according to the embodiment of the present invention, including the receiving device 200 (processing device) according to the embodiment of the present invention that performs processing according to the processing method according to the embodiment of the present invention. FIG.

[I] Transmitter 100
The transmission device 100 includes, for example, a transmission unit 102 and a transmission processing unit 104.

  In addition, the transmission device 100 may include, for example, a control unit (not shown), a ROM (not shown), a RAM (Random Access Memory; not shown), and the like. The transmission device 100 connects the above-described components by, for example, a bus as a data transmission path.

  Here, a control unit (not shown) included in the transmission device 100 is configured by, for example, a CPU (Central Processing Unit), various processing circuits, and the like, and controls the entire transmission device 100. Also, a control unit (not shown) included in the transmission device 100 may serve as the transmission processing unit 102, for example. Needless to say, the transmission processing unit 102 may be configured by a dedicated (or general-purpose) processing circuit.

  A ROM (not shown) included in the transmission device 100 stores control data such as programs and calculation parameters used by a control unit (not shown). A RAM (not shown) included in the transmission device 100 temporarily stores a program executed by a control unit (not shown).

Transmitting section 102 has a plurality of transmitting antennas Tx1 to Txm _t, it transmits signals wirelessly. Transmitting antenna Tx1~Txm _t corresponds to transmission array antenna Tx.

Transmission processing unit 104 to transmit the signals from a plurality of transmitting antennas Tx1 to Txm _t constituting the transmission unit 102. Transmission processing unit 104, for example, by transmitting a signal of a predetermined frequency band such as 2.4 [GHz] to the transmission unit 102 to transmit the signals from a plurality of transmitting antennas Tx1 to Txm _r constituting the transmission unit 102 .

  The transmission apparatus 100 includes, for example, the transmission unit 102 and the transmission processing unit 104, and thereby wirelessly transmits a signal from the transmission array antenna Tx.

[II] Receiving device 200 (processing device according to an embodiment of the present invention)
The receiving apparatus 200 includes, for example, a receiving unit 202, a reception processing unit 204, and a processing unit 206.

  In addition, the receiving device 200 may include, for example, a control unit (not shown), a ROM (not shown), a RAM (not shown), and the like. For example, the receiving device 200 connects the above-described components by a bus as a data transmission path.

  Here, a control unit (not shown) included in the reception device 200 is configured by, for example, a CPU and various processing circuits, and controls the entire transmission device 100. Moreover, the control part (not shown) with which the receiver 200 is provided may fulfill | perform the role of the reception process part 202 and / or the process part 206, for example. Needless to say, the reception processing unit 202 and the processing unit 206 may be configured by dedicated (or general-purpose) processing circuits.

  A ROM (not shown) provided in the receiving apparatus 200 stores control data such as a program and a calculation parameter used by a control unit (not shown). A RAM (not shown) included in the receiving apparatus 200 temporarily stores a program executed by a control unit (not shown).

The receiving unit 202 includes a plurality of receiving antennas Rx1 to Rxm _r and transmits signals wirelessly. The receiving antennas Rx1 to Rxm _r correspond to the receiving array antenna Rx.

The reception processing unit 204 demodulates signals received by the plurality of reception antennas Rx1 to Rxm _r . Reception processing unit 204, for example, a signal received by the receiving antenna Rx1～Rxm _r respectively, filtering (filtering) with a predetermined frequency band. In addition, the reception processing unit 204 demodulates the signal transmitted from the transmission device 100, for example, after performing amplification or frequency conversion of the filtered signal. The reception processing unit 204 has an arbitrary configuration related to demodulation, such as a filter circuit, an amplifier circuit, and a frequency conversion circuit.

  The processing unit 206 plays a role of leading the processing related to the processing method according to the embodiment of the present invention. For example, the processing unit 206 detects the number of objects by processing the signal demodulated by the reception processing unit 204. In addition, the processing unit 206 estimates the position of each object whose number is detected by processing the signal demodulated by the reception processing unit 204.

  The processing unit 206 includes, for example, a propagation path estimation unit 210, a frequency response calculation unit 212, an extraction unit 214, a target detection unit 216, and a position estimation unit 218.

  The propagation path estimation unit 210 serves to perform the propagation path estimation process according to the embodiment of the present invention shown in (1) above. For example, the propagation path estimation unit 210 estimates the complex transfer function matrix H (t) (first complex transfer function matrix) based on the signal demodulated by the reception processing unit 204.

  The frequency response calculation unit 212 serves to perform the frequency response calculation process according to the embodiment of the present invention shown in (2) above. For example, the frequency response calculation unit 212 converts the time response of the complex transfer function matrix H (t) estimated by the propagation path estimation unit 210 into a frequency response, and outputs a complex transfer function matrix F (f) (second complex). Transfer function matrix).

  Here, the frequency response calculation unit 212 performs, for example, a Fourier transform of a complex transfer function matrix H (t) for a certain period of time, which is stored in a recording medium such as a buffer, so that the complex transfer function matrix F ( f) is calculated. The recording medium such as the buffer may be included in the processing unit 206 or may be a recording medium outside the processing unit 206, for example.

  The extraction unit 214 performs the extraction process according to the embodiment of the present invention described in (3) above. The extraction unit 214 extracts a complex transfer function matrix F (f) corresponding to a predetermined frequency band from the complex transfer function matrix F (f) calculated by the frequency response calculation unit 212.

The object detection unit 216 serves to perform the object detection process according to the embodiment of the present invention shown in (4) above. For example, the object detection unit 216 compares the reference value related to the detection of the object with the calculated value related to the detection of the object calculated based on the complex transfer function matrix F (f) extracted by the extraction unit 214. Based on this, the number of objects is detected. More specifically, the object detection unit 216, for example, “eigenvalues obtained as a result of eigenvalue decomposition of the reception correlation matrix R _r and the transmission correlation matrix R _t based on the complex transfer function matrix F (f) (the above-described eigenvalues Singular value obtained as a result of singular value decomposition of the complex transfer function matrix F (f) (processing according to the processing method according to the third embodiment described above) ” "Is used as a calculated value related to the detection of the object to detect the number of objects.

The position estimation unit 218 serves to perform position estimation processing according to the embodiment of the present invention shown in (4) above. For example, based on the number of objects detected by the object detection unit 216, the position estimation unit 218 estimates the position of the object corresponding to each object whose number has been detected. More specifically, the position estimation unit 218, for example, “a transmission eigenvector and a reception eigenvector obtained as a result of eigenvalue decomposition of the reception correlation matrix R _r and the transmission correlation matrix R _t based on the complex transfer function matrix F (f), respectively. (Processing according to the processing method according to the first embodiment described above or processing according to the processing method according to the second embodiment described above) "or" single value decomposition of the complex transfer function matrix F (f) " Using the resulting right singular vector and left singular vector (processing according to the processing method according to the third embodiment described above), the position of the object is estimated.

  The processing unit 206 includes, for example, a propagation path estimation unit 210, a frequency response calculation unit 212, an extraction unit 214, an object detection unit 216, and a position estimation unit 218, so that the processing according to the processing method according to the embodiment of the present invention is performed. I do.

  The receiving apparatus 200 includes, for example, a propagation path estimation unit 210, a frequency response calculation unit 212, an extraction unit 214, an object detection unit 216, and a position estimation unit 218, thereby performing processing related to the processing method according to the embodiment of the present invention. I do.

  Therefore, the receiving apparatus 200 can detect the number of objects by the configuration shown in FIG. 7, for example. The receiving apparatus 200 can estimate the positions of the objects corresponding to the objects whose numbers are detected, for example, with the configuration shown in FIG.

  The configuration of the receiving device that functions as the processing device according to the embodiment of the present invention is not limited to the configuration illustrated in FIG.

  For example, the receiving device that functions as the processing device according to the embodiment of the present invention may have a configuration that does not include the position estimation unit 218 illustrated in FIG. Even in a configuration that does not include the position estimation unit 218, the receiving device that functions as the processing device according to the embodiment of the present invention can perform the target detection processing according to the above-described embodiment of the present invention. The number of objects can be detected. In addition, when the reception device that functions as the processing device according to the embodiment of the present invention does not include the position estimation unit 218, for example, in the external device having the same function as the position estimation unit 218, the position of the target object is It may be estimated.

  In addition, the reception device that functions as the processing device according to the embodiment of the present invention includes, for example, the propagation path estimation unit 210, the frequency response calculation unit 212, the extraction unit 214, the target detection unit 216, and the position estimation unit 218 illustrated in FIG. 1 or 2 or more can be provided separately from the processing unit 206 (for example, realized by a separate processing circuit).

[III] Another Configuration Example of the Processing Device According to the Embodiment of the Present Invention Note that the configuration of the processing device according to the embodiment of the present invention is limited to the configuration (including modifications) shown in the reception device 200 of FIG. I can't.

  For example, the processing apparatus according to the embodiment of the present invention may be configured not to include the reception unit 202 and the reception processing unit 204 illustrated in FIG. In the case of adopting a configuration that does not include the reception unit 202 and the reception processing unit 204, the processing device according to the embodiment of the present invention receives, for example, an external reception device having the same functions as the reception unit 202 and the reception processing unit 204. The processed signal.

  Here, even in the case where the receiving unit 202 and the reception processing unit 204 are not provided, the processing device according to the embodiment of the present invention performs the processing according to the processing method according to the embodiment of the present invention. Is possible. Therefore, even in the case of adopting a configuration that does not include the reception unit 202 and the reception processing unit 204, the processing device according to the embodiment of the present invention can detect the number of objects. Further, even when the reception unit 202 and the reception processing unit 204 are not provided, the processing device according to the embodiment of the present invention determines the position of the target corresponding to each target whose number is detected. Can be estimated (when the position estimation unit 218 is provided).

  The processing apparatus according to the embodiment of the present invention may further include a transmission processing unit 104 included in the transmission apparatus 100 illustrated in FIG.

  When the transmission processing unit 104 is further provided, the processing apparatus according to the embodiment of the present invention causes a signal to be transmitted from an external antenna having the same configuration and function as the transmission unit 102, for example. When the transmission unit 102 is further provided, the processing device according to the embodiment of the present invention transmits a signal from the transmission array antenna Tx configuring the transmission unit 102.

  When the transmission processing unit 104 is further provided, the processing apparatus according to the embodiment of the present invention detects the number of objects by processing the transmitted signal, for example, or detects the number of objects. And the position of the object is estimated.

  As mentioned above, although the processing apparatus was mentioned and demonstrated as embodiment of this invention, embodiment of this invention is not restricted to this form. Embodiments of the present invention include, for example, a communication device such as a mobile phone and a smartphone, a tablet device, a video / music playback device (or video / music recording / playback device), a game machine, a computer such as a PC (Personal Computer). It can be applied to various devices. The embodiment of the present invention can also be applied to, for example, a processing IC (Integrated Circuit) that can be incorporated in a device as described above.

(Program according to an embodiment of the present invention)
A program for causing a computer to function as the processing apparatus according to the embodiment of the present invention (for example, “computer is a propagation path estimation unit 210, a frequency response calculation unit 212, an extraction unit 214, and an object detection unit 216 shown in FIG. The number of objects can be detected by executing a “program for functioning as” by a processor or the like in a computer.

  Further, a program for causing a computer to function as the processing apparatus according to the embodiment of the present invention (for example, “computer is a propagation path estimation unit 210, a frequency response calculation unit 212, an extraction unit 214, an object detection unit illustrated in FIG. 216 and a program “) for causing the position estimation unit 218 to function” are executed by a processor or the like in the computer, so that the positions of the objects corresponding to the respective objects whose numbers are detected can be estimated.

  As mentioned above, although preferred embodiment of this invention was described referring an accompanying drawing, it cannot be overemphasized that this invention is not limited to the example which concerns. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims, and these are naturally within the technical scope of the present invention. Understood.

  For example, in the above description, it is shown that a program (computer program) for causing a computer to function as a processing apparatus according to the embodiment of the present invention is provided. However, the embodiment of the present invention further stores the program. The recorded recording medium can also be provided.

DESCRIPTION OF SYMBOLS 100 Transmission apparatus 102 Transmission part 104 Transmission processing part 200 Reception apparatus 202 Reception part 204 Reception processing part 206 Processing part 210 Channel estimation part 212 Frequency response calculation part 214 Extraction part 216 Target detection part 218 Position estimation part

Claims (12)

A first complex transfer function matrix indicating a propagation path formed between a plurality of transmission antennas and a plurality of reception antennas is based on signals transmitted from the plurality of transmission antennas and received by the plurality of reception antennas. A channel estimation unit that estimates
A frequency response calculation unit that converts a time response of the first complex transfer function matrix into a frequency response and calculates a second complex transfer function matrix;
An extraction unit for extracting the second complex transfer function matrix corresponding to a predetermined frequency band from the calculated second complex transfer function matrix;
A reference value related to detection of an object when no target exists, and a calculated value related to detection of the object calculated based on the second complex transfer function matrix corresponding to the extracted predetermined frequency band An object detection unit for detecting the number of objects based on the comparison result;
With
The object detection unit includes a number of calculated values related to the detection of the object having a value larger than a reference value related to the detection of the object or a value equal to or greater than a reference value related to the detection of the object. A processing apparatus for detecting the number of calculated values related to detection as the number of objects. The target detection unit
Based on the extracted second complex transfer function matrix corresponding to the extracted predetermined frequency band, a reception correlation matrix indicating a correlation of the plurality of reception antennas with respect to the transmission antenna, and the plurality of transmission antennas with respect to the reception antenna And a transmission correlation matrix indicating the correlation of
The reception correlation matrix and the transmission correlation matrix are each subjected to eigenvalue decomposition, and a reception eigenvalue and a transmission eigenvalue are calculated as calculated values related to the detection of the object,
The reference value related to the detection of the object is a reference reception eigenvalue that is the maximum value of the reception eigenvalue when the object does not exist, and a reference transmission eigenvalue that is the maximum value of the transmission eigenvalue when the object does not exist. Yes,
The target detection unit detects the number of the target objects based on a comparison result between the calculated reception eigenvalue and the reference reception eigenvalue, and a comparison result between the calculated transmission eigenvalue and the reference transmission eigenvalue. The processing apparatus according to claim 1, wherein: A position estimation unit for estimating a position of the object corresponding to each of the objects whose number is detected by the object detection unit;
When the number of detected objects is plural,
The position estimation unit
Based on the reception correlation matrix and the number of detected objects, estimate the number of detection directions equal to the number of objects starting from the first reference position in the plurality of receiving antennas,
Based on the transmission correlation matrix and the number of detected objects, estimate the number of detection directions equal to the number of objects starting from the second reference position in the plurality of transmission antennas,
A reception eigenvector corresponding to the reception eigenvalue larger than the reference reception eigenvalue or the reception eigenvalue greater than or equal to the reference reception eigenvalue from among the reception eigenvectors calculated by eigenvalue decomposition of the reception correlation matrix;
A transmission eigenvector corresponding to the transmission eigenvalue larger than the reference transmission eigenvalue or the transmission eigenvalue greater than or equal to the reference transmission eigenvalue is identified from transmission eigenvectors calculated by eigenvalue decomposition of the transmission correlation matrix. ,
For the reception eigenvalue corresponding to the specified reception eigenvector and the transmission eigenvalue corresponding to the specified transmission eigenvector, the order of the size of the reception eigenvalue and the order of the size of the transmission eigenvalue are specified. And
A first inner product value indicating an inner product of a plurality of transmission steering vectors corresponding to a plurality of detection directions estimated from the first reference position in the transmission antenna as a starting point, and the plurality of transmission eigenvectors identified. Calculate for all combinations of the transmission steering vector and the transmission eigenvector,
Specifying a combination of the transmission steering vector and the transmission eigenvector that maximizes the calculated first inner product value;
A second inner product value indicating an inner product of a plurality of reception steering vectors corresponding to a plurality of detection directions estimated from the second reference position at the reception antenna as a starting point and the plurality of specified reception eigenvectors; Calculate all combinations of the reception steering vector and the reception eigenvector,
A combination of the received steering vector and the received eigenvector that maximizes the calculated second inner product value;
The direction of the received steering vector and the order of the magnitudes used to calculate the second inner product value corresponding to the largest received eigenvalue among the received eigenvalues whose magnitude order is specified Is detected based on the direction of the transmission steering vector used to calculate the first inner product value corresponding to the transmission eigenvalue having the largest magnitude among the transmission eigenvalues identified. Estimate the position of the th object,
The direction and the magnitude of the reception steering vector used for calculating the second inner product value corresponding to the second and subsequent received eigenvalues of the received eigenvalues whose magnitude order is specified Detected based on the direction of the transmission steering vector used for calculating the first inner product value corresponding to the transmission eigenvalues of the second and subsequent transmission eigenvalues in which the order of the transmission eigenvalues is specified The processing apparatus according to claim 2, wherein the second and subsequent objects are estimated. A position estimation unit for estimating a position of the object corresponding to each of the objects whose number is detected by the object detection unit;
When the number of detected objects is plural,
The position estimation unit
Based on the reception correlation matrix and the number of detected objects, estimate the number of detection directions equal to the number of objects starting from the first reference position in the plurality of receiving antennas,
Based on the transmission correlation matrix and the number of detected objects, estimate the number of detection directions equal to the number of objects starting from the second reference position in the plurality of transmission antennas,
A reception eigenvector corresponding to the reception eigenvalue larger than the reference reception eigenvalue or the reception eigenvalue greater than or equal to the reference reception eigenvalue from among the reception eigenvectors calculated by eigenvalue decomposition of the reception correlation matrix;
A transmission eigenvector corresponding to the transmission eigenvalue larger than the reference transmission eigenvalue or the transmission eigenvalue greater than or equal to the reference transmission eigenvalue is identified from transmission eigenvectors calculated by eigenvalue decomposition of the transmission correlation matrix. ,
For the reception eigenvalue corresponding to the specified reception eigenvector and the transmission eigenvalue corresponding to the specified transmission eigenvector, the order of the size of the reception eigenvalue and the order of the size of the transmission eigenvalue are specified. And
The reception eigenvalue and the reception eigenvector calculated by eigenvalue decomposition of the reception correlation matrix are Kth largest in the reception correlation matrix (K is an integer not less than 1 and not more than the number of detected objects). The transmission eigenvalue and the transmission eigenvector calculated by calculating the direction starting from the reception antenna side using all the reception eigenvectors other than the reception eigenvalue and eigenvalue decomposition of the transmission correlation matrix. Calculating a direction starting from the transmitting antenna side using all the transmission eigenvectors corresponding to other than the Kth largest transmission eigenvalue in the correlation matrix;
The position of the object corresponding to the Kth reception eigenvalue and the transmission eigenvalue using both the direction calculated from the transmission antenna side and the direction calculated from the reception antenna side The processing apparatus according to claim 2, wherein: The target detection unit performs singular value decomposition on the second complex transfer function matrix corresponding to the extracted predetermined frequency band, and calculates a singular value as a calculated value related to detection of the target object,
The reference value related to the detection of the object is a reference singular value that is the maximum value of the singular value when no object exists.
The processing apparatus according to claim 1, wherein the target detection unit detects the number of the target objects based on a comparison result between the calculated singular value and the reference singular value. A position estimation unit for estimating a position of the object corresponding to each of the objects whose number is detected by the object detection unit;
When the number of detected objects is plural,
The position estimation unit
Based on the second complex transfer function matrix and the number of detected objects, estimate the number of detection directions equal to the number of the objects starting from the first reference position in the plurality of receiving antennas,
Based on the second complex transfer function matrix and the number of detected objects, estimate the number of detection directions equal to the number of the objects starting from the second reference position in the plurality of transmission antennas,
From the left singular vector calculated by singular value decomposition of the second complex transfer function matrix, corresponding to the singular value larger than the reference singular value, or the singular value greater than or equal to the reference singular value, Identify the left singular vector,
Corresponds to the singular value larger than the reference singular value or the singular value greater than or equal to the reference singular value from among the right singular vectors calculated by singular value decomposition of the second complex transfer function matrix Identify the right singular vector,
For the singular value corresponding to the identified left singular vector and the singular value corresponding to the identified right singular vector, the order of the magnitudes of the singular values, the order of the magnitudes of the singular values, and Identify
A first inner product value indicating an inner product of a plurality of transmission steering vectors corresponding to a plurality of detection directions estimated from the first reference position in the transmission antenna and a plurality of identified right singular vectors. Calculating for all combinations of the transmission steering vector and the right singular vector,
Specifying a combination of the transmission steering vector and the right singular vector that maximizes the calculated first inner product value;
A second inner product value indicating an inner product of a plurality of reception steering vectors corresponding to a plurality of detection directions estimated from the second reference position at the reception antenna and a plurality of identified left singular vectors. Calculating for all combinations of the received steering vector and the left singular vector,
A combination of the received steering vector and the left singular vector that maximizes the calculated second inner product value;
The direction of the received steering vector used for calculating the second inner product value corresponding to the singular value having the largest magnitude among the singular values for which the magnitude order is specified, and the magnitude order Is detected based on the direction of the transmission steering vector used to calculate the first inner product value corresponding to the singular value having the largest magnitude among the singular values identified. Estimate the position of the th object,
The direction and magnitude of the received steering vector used for calculating the second inner product value corresponding to the second and subsequent singular values, the magnitude of the singular values for which the magnitude order is specified Detection based on the direction of the transmission steering vector used for calculating the first inner product value corresponding to the second and subsequent singular values. The processing apparatus according to claim 5, wherein the position of the second and subsequent objects is estimated. A position estimation unit for estimating a position of the object corresponding to each of the objects whose number is detected by the object detection unit;
When the number of detected objects is plural,
The position estimation unit
Based on the second complex transfer function matrix and the number of detected objects, estimate the number of detection directions equal to the number of the objects starting from the first reference position in the plurality of receiving antennas,
Based on the second complex transfer function matrix and the number of detected objects, estimate the number of detection directions equal to the number of the objects starting from the second reference position in the plurality of transmission antennas,
From the left singular vector calculated by singular value decomposition of the second complex transfer function matrix, corresponding to the singular value larger than the reference singular value, or the singular value greater than or equal to the reference singular value, Identify the left singular vector,
Corresponds to the singular value larger than the reference singular value or the singular value greater than or equal to the reference singular value from among the right singular vectors calculated by singular value decomposition of the second complex transfer function matrix Identify the right singular vector,
For the singular value corresponding to the identified left singular vector and the singular value corresponding to the identified right singular vector, the order of the magnitudes of the singular values, the order of the magnitudes of the singular values, and Identify
About the singular value and the left singular vector calculated by singular value decomposition of the second complex transfer function matrix, the Kth (K is 1 or more and detected) in the second complex transfer function matrix A direction starting from the receiving antenna side is calculated using all the left singular vectors corresponding to other than the singular value which is larger than the singular value which is not larger than the number of the objects, and the second complex transfer function matrix is singularly decomposed. For the singular value and the right singular vector calculated as described above, the transmitting antenna side is started using all the right singular vectors corresponding to the singular values other than the Kth largest singular value in the second complex transfer function matrix. And calculate the direction
The position of the object corresponding to the Kth singular value and the singular value using both the direction calculated from the transmitting antenna side and the direction calculated from the receiving antenna side The processing apparatus according to claim 5, wherein: A plurality of the receiving antennas;
A reception processing unit that demodulates signals received by the plurality of reception antennas;
Further comprising
The processing apparatus according to claim 1, wherein the propagation path estimation unit processes a signal demodulated in the reception processing unit.   The processing apparatus according to claim 1, further comprising: a transmission processing unit that transmits signals from a plurality of the transmission antennas.   The processing apparatus according to claim 9, further comprising a plurality of the transmission antennas. A first complex transfer function matrix indicating a propagation path formed between a plurality of transmission antennas and a plurality of reception antennas is based on signals transmitted from the plurality of transmission antennas and received by the plurality of reception antennas. A propagation path estimation step
A frequency response calculating step of converting a time response of the first complex transfer function matrix into a frequency response to calculate a second complex transfer function matrix;
An extraction step of extracting the second complex transfer function matrix corresponding to a predetermined frequency band from the calculated second complex transfer function matrix;
A reference value related to detection of an object when no target exists, and a calculated value related to detection of the object calculated based on the second complex transfer function matrix corresponding to the extracted predetermined frequency band An object detection step for detecting the number of objects based on the comparison result;
Have
In the object detection step, the number of calculated values related to the detection of the object having a value larger than a reference value related to the detection of the object, or the value of the object having a value equal to or larger than the reference value related to the detection of the object. A processing method, wherein the number of calculated values related to detection is detected as the number of objects. The processing method according to claim 11, further comprising a position estimation step of estimating a position of the object corresponding to each of the objects whose number is detected in the object detection step.

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