CN102098082A - Channel cluster tracking method and device - Google Patents

Abstract

The invention discloses a channel cluster tracking method. The method comprises the following steps of: acquiring multi-channel impulse response data and relative geographic information of two transceiving ends, extracting multi-channel space time multi-dimensional parameter information from the acquired multi-channel impulse response data, clustering multiple channels by using a preset clustering algorithm, acquiring space time multi-dimensional parameters of a clustered center, calculating multi-channel component distance (MCD) value of each cluster of adjacent moments, estimating the change range of the MCD value of each cluster according to the acquired relative geographic information, acquiring the MCD threshold value of each corresponding cluster, and executing cluster tracking according to the acquired MCD value of each cluster and the calculated MCD value of each cluster. The invention also discloses a channel cluster tracking device at the same time. The method and the device can solve the source problem of living clusters when the clusters are fused, and meanwhile, improve the precision of a tracking algorithm.

Description

Cluster of channels tracking and device

Technical field

The present invention relates to wireless communication technology, particularly a kind of cluster of channels tracking and device.

Background technology

Along with development of wireless communication devices,, more and more higher to the requirement of wireless communication system transmission rate and spectrum efficiency in order effectively to carry the multimedia service of magnanimity.Multiple-input, multiple-output (MIMO, Multi-Input and Multi-Output) technology is just for the transmission rate that improves wireless communication system and spectrum efficiency and the key technology of the third generation mobile communication system that proposes, this technology utilizes many antennas to suppress channel fading, can improve the capacity and the availability of frequency spectrum of wireless communication system under the situation that does not increase bandwidth exponentially.But because the performance of MIMO technology fading characteristic when also being limited by channel empty, and broad-band channel can present new frequency selective characteristic, therefore, set up suitable wideband MIMO channel model, the three-dimensional fading characteristic of the empty time-frequency of research wideband MIMO channel is the prerequisite and the key of maximum performance MIMO technical advantage.

In modeling process; can in the geographical communication environments of reality, carry out the measurement of broadband wireless channel; or based on typical communication environments; carry out a large amount of measurements and obtain measured data; the data that measure are analyzed, extracted; calculate the characteristic parameter of communication environments; and then the dissemination channel characteristic of this environment is carried out modeling or model tuning according to the characteristic parameter that calculating is obtained; obtain comparatively perfect wideband MIMO channel model at last, thereby provide reference frame for the transmission technology in the wireless communication system, resource management and the network planning.

In the broad-band channel of the three-dimensional decline of empty time-frequency, multipath with bunch form propagate, the generation of multipath, death and to survive be one of key property of broad-band channel, it has reflected the dynamic characteristic of multipath on adjacent time segment.Therefore, the dynamic characteristic of reproducing bunch is the indispensable one side of wideband MIMO Channel Modeling.The approach of this dynamic behaviour characteristic of current research just is based on geographical communication environments and obtains measured data, and the extraction of carrying out bunch utilizes that track algorithm is determined bunch to produce, the behavior of dead and survival.

Fig. 1 is an existing channel bunch tracking schematic flow sheet.Referring to Fig. 1, this flow process comprises:

Step 101 utilizes the multidimensional parameter estimation algorithm to extract the channel multi-path parameter of a series of time point up-samplings;

Step 102 utilizes the sub-clustering algorithm that multipath is carried out sub-clustering, obtains each bunch bunch heart parameter respectively;

Step 103 is calculated the Euclidean space distance between each bunch of adjacent moment bunch heart;

Step 104 according to each bunch of adjacent moment bunch heart parameter and predefined multipath component distance (MCD) threshold value, is followed the tracks of cluster of channels.

In this step, if the minimum range of back one certain bunch (old bunch) constantly and any bunch (new bunch) of previous moment surpasses this MCD threshold value, then think new bunch of generation, and give this new bunch distribution bunch label;

If certain bunch of previous moment with back one any bunch minimum range constantly less than this MCD threshold value, then think this bunch survival, continue to use original bunch of label, otherwise think its death, bunch label lost efficacy, and no longer followed the tracks of this cluster of channels.

As seen by above-mentioned, mainly there are following two problems in existing cluster of channels tracking:

1) the MCD threshold setting lacks reasonability.The existing method of setting the MCD threshold value is that all bunches are provided a unified empirical value, this empirical value be theoretically unsound and the MCD threshold value of all bunches identical, and in the practical application, MCD value between each bunch is inequality, therefore, its MCD threshold value also is different, and this method is as broad as long treats each bunch, more do not have to consider the factor of transmission relevant with each bunch, the precision of track algorithm is lower.

2) when bunch occur merging, can't solve the source problem that comes of survival bunch, be that the MCD value of current time bunch and some bunch of previous moment is during all less than the MCD threshold value of setting, which label of old bunch bunch label that does not solve this bunch continues to use, thereby can not handle bunch this problem that occurs in dynamic evolutionary process.

Summary of the invention

In view of this, main purpose of the present invention is to provide a kind of cluster of channels tracking, solves coming source problem, improving the precision of track algorithm simultaneously of survival bunch when bunch occur merging.

Another object of the present invention is to provide a kind of cluster of channels tracking means, when bunch occur merging, solve coming source problem, improving the precision of track algorithm simultaneously of survival bunch.

For achieving the above object, the invention provides a kind of cluster of channels tracking, this method comprises:

Obtain the relative geography information of multipath channel impulse response data and transmitting-receiving two-end;

Multidimensional parameter information during from the multipath channel impulse response extracting data multipath that obtains empty;

Utilize predefined sub-clustering algorithm that multipath is carried out sub-clustering, and multidimensional parameter when obtaining the sub-clustering bunch heart empty;

Calculate the maximum nearest neighbor distance MCD value of each bunch of adjacent moment;

Estimate the excursion of each bunch MCD value according to the relative geography information of obtaining, obtain corresponding each bunch MCD threshold value;

According to each bunch MCD threshold value obtained and each bunch MCD value that calculates, carry out bunch tracking.

The described step of obtaining multipath channel impulse response data comprises:

On predefined measurement route, under the situation that the reference direction that guarantees the transmitting-receiving two-end aerial array remains unchanged, obtain the channel impulse response data on the predefined time period sequence in measuring process.

Described geographical relatively packets of information is drawn together: air line distance, the direction of motion and line of sight direction angle.

The multidimensional parameter information during from the multipath channel impulse response extracting data multipath that obtains empty by space-alternating broad sense expectation maximization SAGE algorithm.

The multidimensional parameter information specifically comprises during described multipath empty: multipath power, multidiameter delay, level are left the angle and the horizontal angle of arrival.

Describedly utilize predefined sub-clustering algorithm that multipath is carried out sub-clustering, and the step of multidimensional parameter comprises when obtaining the sub-clustering bunch heart empty:

The multipath power that comprises in the multidimensional parameter information during according to multipath empty utilizes the KPowerMeans algorithm that multipath is carried out sub-clustering, and multidimensional parameter when the multidimensional parameter information obtains the corresponding sub-clustering bunch heart empty during according to the multipath that obtains empty.

The multidimensional parameter comprises a bunch heart power, bunch heart time delay, the flat angle and the flat angle of arrival of bunch edema with the heart involved of leaving of bunch edema with the heart involved during the described bunch of heart empty.

The computing formula of the maximum nearest neighbor distance MCD value of described each bunch of calculating adjacent moment is:

${\mathrm{MCD}}_{\mathrm{ij}}=\frac{1}{\sqrt{3}}\sqrt{{\left|\right|{\mathrm{MCD}}_{\mathrm{AoA},\mathrm{ij}}\left|\right|}^2+{\left|\right|{\mathrm{MCD}}_{\mathrm{AoD},\mathrm{ij}}\left|\right|}^2+{\mathrm{MCD}}_{\mathrm{\τ},\mathrm{ij}}^2}$

In the formula, subscript i, j represent bunch calculation order of adjacent moment, MCD _{AoA, ij}The MCD value of expression adjacent moment bunch heart angle of arrival AOA, MCD _{AoD, ij}Expression bunch heart adjacent moment is left the MCD value of angle AOD, MCD _{τ, ij}It is the MCD value of adjacent moment bunch heart time delay.

${\mathrm{MCD}}_{\mathrm{AoA},\mathrm{ij}}=\frac{1}{2}\left|\begin{array}{c}\cos \left({\mathrm{\φ}}_j\right)-\cos \left({\mathrm{\φ}}_i\right)\\ \sin \left({\mathrm{\φ}}_j\right)-\sin \left({\mathrm{\φ}}_i\right)\end{array}\right|$

${\mathrm{MCD}}_{\mathrm{\τ},\mathrm{ij}}=\mathrm{\ζ}\·\frac{|{\mathrm{\τ}}_j-{\mathrm{\τ}}_i|}{{\max }_{i,j}\left\{\right|{\mathrm{\τ}}_j-{\mathrm{\τ}}_i\left|\right\}}$

In the formula, The expression level is left the angle, and φ represents the horizontal angle of arrival, and τ is a time delay, and ζ is that time delay is adjusted the factor.

The relative geography information that described basis is obtained is estimated the excursion of each bunch MCD value, and the step of obtaining corresponding each bunch MCD threshold value comprises:

Multidimensional parameter during according to the relative geography information of obtaining and bunch heart empty is set up the geometry of make a start position, receiving end position, primary scattering body position and rescattering body position;

Obtain the excursion of the MCD value of the rescattering body of each bunch of current time correspondence and receiving end according to the geometry of setting up;

According to the excursion of the value of each bunch of Displacement Estimation current time MCD of scattering object position and receiving end, obtain corresponding each bunch MCD threshold value.

Each bunch MCD threshold value that described basis is obtained and each bunch MCD value that calculates, the step of carrying out bunch tracking comprises:

To deposit bunch collection less than new bunch of this old bunch of MCD threshold value with old bunch MCD value into the candidate:

To deposit into polymerization bunch collection with new bunch MCD value old bunch less than this old bunch of MCD threshold value;

Obtain MCD value and old bunch of MCD threshold value of each bunch of adjacent moment;

Whether the MCD value of judging new bunch of adjacent moment greater than corresponding old bunch of MCD threshold value, if, be this new bunch and distribute new bunch numbering, otherwise, following steps carried out;

Initialization polymerization bunch collection is provided with polymerization bunch collection number variable initial value q=1, polymerization bunch element number C _q=M;

Old bunch of traversal polymerization bunch collection calculates old bunch $k(k=1,...,\underset{q=1}{\overset{Q}{\mathrm{\Σ}}}{C}_q)$ Corresponding candidate's number of clusters order L _k, wherein, Q is the number of polymerization bunch collection, if L _k=0, old bunch of k is dead bunch; If L _k≠ 0, then new bunch of MCD value minimum of this old bunch of k bunch concentrated in mark and polymerization in candidate bunch, redistributes polymerization bunch collection;

Whether detect exists old number of clusters greater than 1 polymerization bunch collection, if exist, traversal institute's number of clusters of haveing been friends in the past bunch collects pairing candidate bunch greater than 1 polymerization, the minimum candidate's bunch element of mark MCD value is survival bunch, and with this candidate bunch element and this polymerization bunch element deletion, upgrade the number of polymerization bunch collection and polymerization bunch element, return old bunch step carrying out traversal polymerization bunch collection; If do not exist, then mark candidate bunch is survival bunch, and all the other bunches be newborn bunch, and be new life's bunch new bunch of numbering of distribution.

A kind of cluster of channels tracking means, this device comprises: measurement module, pretreatment module, estimation module and tracking module, wherein,

Measurement module is used to obtain multipath channel impulse response data and transmitting-receiving two-end geography information;

Pretreatment module, multidimensional parameter information when being used for from the multipath channel impulse response extracting data multipath that obtains empty, obtain relative geography information according to the transmitting-receiving two-end geography information, utilize predefined sub-clustering algorithm that multipath is carried out sub-clustering, and multidimensional parameter information when obtaining the sub-clustering bunch heart empty;

Estimation module, when being used for according to the sub-clustering bunch heart empty the multidimensional parameter and relatively geography information estimate each bunch MCD threshold value;

Tracking module, the MCD value of each bunch of calculating adjacent moment is according to each bunch MCD threshold value of obtaining and each bunch MCD value that calculates, tracking cluster.

Described pretreatment module comprises parameter extraction submodule, sub-clustering submodule and geography information submodule, wherein,

The parameter extraction submodule is used for receive channel impulse response data, extracts multidimensional parameter information when comprising multipath power, time delay and angle information empty according to predefined algorithm for estimating, exports the sub-clustering submodule to;

The sub-clustering submodule, multidimensional parameter information when being used to receive parameter extraction submodule output empty, and carry out sub-clustering, multidimensional parameter information when obtaining comprising sub-clustering bunch heart power, time delay and angle information empty according to predefined sub-clustering algorithm;

The geography information submodule, the geodata that is used for the collection that will receive is carried out format conversion, and relative geography information is obtained in go forward side by side row interpolation and adjustment.

Described tracking submodule comprises calculating sub module and comparison and updating submodule, wherein,

Calculating sub module is used to calculate each bunch of adjacent moment MCD value, generates the MCD matrix, exports to comparison and updating submodule;

Comparison and updating submodule are used to receive the MCD threshold value of each bunch of the MCD matrix of calculating sub module output and estimation module output, according to the state that upgrades bunch with the iterative target track algorithm of setting earlier.

The generation that described bunch state comprises bunch, death and survival, described comparison and updating submodule are provided with survival and bunch continue to use old bunch numbering, and the new bunch numbering that produces is from still specifying arbitrarily the unappropriated numbering.

As seen from the above technical solutions, cluster of channels tracking provided by the invention and device are by obtaining the relative geography information of multipath channel impulse response data and transmitting-receiving two-end; Multidimensional parameter information during from the multipath channel impulse response extracting data multipath that obtains empty; Utilize predefined sub-clustering algorithm that multipath is carried out sub-clustering, and multidimensional parameter when obtaining the sub-clustering bunch heart empty; Calculate the MCD value of each bunch of adjacent moment; Estimate the excursion of each bunch MCD value according to the relative geography information of obtaining, obtain corresponding each bunch MCD threshold value; According to each bunch MCD threshold value obtained and each bunch MCD value that calculates, carry out bunch tracking.Like this, multidimensional parameter during according to positional information, motion state and bunch heart of transmitting-receiving two-end empty, unite and estimate each bunch MCD threshold value, every bunch all has each self-corresponding MCD threshold value, therefore closing to reality mechanism of transmission more, make this MCD threshold value possess rational physical significance and reliability, improved the precision of track algorithm; And, introduce the process that iteration is upgraded bunch label carrying out when bunch following the tracks of, and solved the assignment problem of bunch label, can more effectively tackle the phenomenon of bunch fusion, improved the robustness of track algorithm.

Description of drawings

Fig. 1 is an existing channel bunch tracking schematic flow sheet.

Fig. 2 is an embodiment of the invention cluster of channels tracking schematic flow sheet.

Fig. 3 obtains the geometry schematic diagram of excursion of the MCD value of the rescattering body of each bunch of current time correspondence and receiving end for the embodiment of the invention.

Fig. 4 is the geometry schematic diagram of the excursion of the value of each bunch of embodiment of the invention estimation current time MCD.

Fig. 5 carries out the method flow schematic diagram of bunch tracking for the embodiment of the invention.

Fig. 6 carries out the method idiographic flow schematic diagram of bunch tracking for the embodiment of the invention.

Fig. 7 is an embodiment of the invention cluster of channels tracking means structural representation.

Embodiment

For making the purpose, technical solutions and advantages of the present invention clearer, the present invention is described in further detail below in conjunction with the accompanying drawings and the specific embodiments.

Fig. 2 is an embodiment of the invention cluster of channels tracking schematic flow sheet.Referring to Fig. 2, this flow process comprises:

Step 201 is obtained the relative geography information of multipath channel impulse response data and transmitting-receiving two-end;

In this step, on predefined measurement route, under the situation that the reference direction that guarantees the transmitting-receiving two-end aerial array remains unchanged, obtain the geography information of channel impulse response data on the predefined time period sequence and corresponding transmitting-receiving two-end or geography information relatively in measuring process.

Preferably, the measurement route of a fixed-direction of planning and assurance are made a start static, so that the reference direction of transmitting-receiving two-end aerial array remains unchanged in measuring process.Driving the receiving end antenna advances with fixed speed on the measurement route, according to obtaining the channel impulse response data, promptly can adopt with the sampling rate of 3 channel snapshots of each Doppler's periodic sampling at least and obtain the channel impulse response data sample with the channel sample speed of receiving end rate travel coupling.

In the practical application, can be equipped with accurately instant navigation system in receiving end or transmitting-receiving two-end, with the relative geographical position of real time record transmitting-receiving two-end.For example, when receiving end is kept in motion, can use DGPS (GPS, Global Position System) or slide rail, and to making a start, can adopt and paste point mode or obtain the more specific location information at the place of making a start in advance,, calculate and obtain relative geography information according to the front and back positional information constantly of record by receiving end.

Geographical relatively packets of information is drawn together: air line distance, the direction of motion and line of sight direction angle etc.

In the practical application, air line distance can determine that the direction of motion can be obtained by the GPS information in the moment before and after the receiving end according to the longitude and latitude in the GPS information of record, and the direction of motion and air line distance angle between the two is the line of sight direction angle.

Step 202, multidimensional parameter information during from the multipath channel impulse response extracting data multipath that obtains empty;

In this step, the channel impulse response data description propagation characteristic of channel multi-path, obtained channel impulse response, thereby, multidimensional parameter in the time of can utilizing existing high accuracy algorithm for estimating from the multipath channel impulse response extracting data multipath that obtains empty.The high accuracy algorithm for estimating can be space-alternating broad sense expectation maximization (SAGE, a Space-Alternating Generalized Expectation-maximization) algorithm, certainly, also can be other algorithm for estimating.

The multidimensional parameter information specifically comprises during multipath empty: multipath power, multidiameter delay, level are left the angle and the horizontal angle of arrival.Institute it should be noted that in the embodiment of the invention and since multipath vertical direction leave the angle and the angle of arrival influences not quite the present invention, thereby do not consider.

Step 203 utilizes predefined sub-clustering algorithm that multipath is carried out sub-clustering, and multidimensional parameter when obtaining the sub-clustering bunch heart empty;

In this step, predefined sub-clustering algorithm can be the KPowerMeans algorithm, the multipath power that comprises in the multidimensional parameter information during according to multipath empty, utilize the KPowerMeans algorithm that multipath is carried out sub-clustering, and multidimensional parameter, i.e. bunch heart power, bunch heart time delay, the flat angle and the flat angle of arrival of bunch edema with the heart involved of leaving of bunch edema with the heart involved when the multidimensional parameter information obtains the corresponding sub-clustering bunch heart empty during according to the multipath that obtains empty.Multidimensional parameter when the multidimensional parameter information obtains the corresponding sub-clustering bunch heart empty during according to multipath empty, its computational methods are prior art, do not repeat them here.

Step 204, the maximum nearest neighbor distance (MCD, Maximum CloseDistance) that calculates each bunch of adjacent moment is worth;

In this step, adjacent moment can be two adjacent sampling periods, and the computing formula of MCD value is:

${\mathrm{MCD}}_{\mathrm{ij}}=\frac{1}{\sqrt{3}}\sqrt{{\left|\right|{\mathrm{MCD}}_{\mathrm{AoA},\mathrm{ij}}\left|\right|}^2+{\left|\right|{\mathrm{MCD}}_{\mathrm{AoD},\mathrm{ij}}\left|\right|}^2+{\mathrm{MCD}}_{\mathrm{\τ},\mathrm{ij}}^2}$

In the formula, subscript i, j represent constantly n and bunch heart numbering of n+1 constantly, promptly before and after constantly bunch calculation order, MCD _{AoA, ij}The MCD value of the expression adjacent moment bunch heart angle of arrival (AOA, Angles Of Arrival) is the function of the adjacent moment bunch heart angle of arrival, is normalization spatial domain distance; MCD _{AoD, ij}Expression bunch heart adjacent moment is left the MCD value at angle (AOD), is the function that the adjacent moment bunch heart leaves the angle, is normalization time delay domain distance; MCD _{τ, ij}Being the MCD value of adjacent moment bunch heart time delay, is the function of adjacent moment bunch heart time delay.Wherein,

${\mathrm{MCD}}_{\mathrm{AoA},\mathrm{ij}}=\frac{1}{2}\left|\begin{array}{c}\cos \left({\mathrm{\φ}}_j\right)-\cos \left({\mathrm{\φ}}_i\right)\\ \sin \left({\mathrm{\φ}}_j\right)-\sin \left({\mathrm{\φ}}_i\right)\end{array}\right|$

${\mathrm{MCD}}_{\mathrm{\τ},\mathrm{ij}}=\mathrm{\ζ}\·\frac{|{\mathrm{\τ}}_j-{\mathrm{\τ}}_i|}{{\max }_{i,j}\left\{\right|{\mathrm{\τ}}_j-{\mathrm{\τ}}_i\left|\right\}}$

In the formula,

The expression level is left the angle, and φ represents the horizontal angle of arrival, and τ is a time delay, and ζ is that time delay is adjusted the factor, is used to change time delay domain at the proportion that calculates the MCD value, can adjust according to engineering experience, usually, gets ζ=1.0≤MCD is so just arranged _Ij≤ 1.

In the above-mentioned formula, MCD _{AoA, ij}, MCD _{AoD, ij}, and MCD _{τ, ij}The multidimensional parameter obtains in the time of can be according to bunch heart empty.

Step 205 is estimated the excursion of each bunch MCD value according to the relative geography information of obtaining, and obtains corresponding each bunch MCD threshold value;

In this step, obtain relative geographical position, estimate the excursion of each bunch MCD value based on the geography information of transmitting-receiving two-end.

Specifically, at first, obtain the excursion of the MCD value of the rescattering body of each bunch of current time correspondence and receiving end.

Fig. 3 obtains the geometry schematic diagram of excursion of the MCD value of the rescattering body of each bunch of current time correspondence and receiving end for the embodiment of the invention.Referring to Fig. 3, T and R represent respectively to make a start and receiving end; A1, A2 are the primary scattering body position, and A is the highest distance position of primary scattering body; B1, B2 are the rescattering body position, and B is the highest distance position of rescattering body; γ ₁, γ ₂Expression when only once arriving during scattering, bunch and the line-of-sight propagation path between horizontal sextant angle; When φ represents that rescattering arrives, bunch and the line-of-sight propagation path between horizontal sextant angle.

Geometry schematic diagram among Fig. 3 is based on following two hypothesis:

(1) two scattering objects are experienced in the propagation of signal at most.In the practical application, because the reflection loss that scattering object is introduced is very big, the probability that occurs the triple reflection component in the received signal is very little, thereby this hypothesis is rational.

(2) movement velocity of scattering object can be ignored much smaller than travelling carriage.This generally sets up under the actual propagation environment.

In step 203, obtained a bunch heart time delay τ, thereby, can calculate the path length l=C τ that this bunch propagation is experienced according to this bunch heart time delay τ, wherein C is the light velocity, l can be expressed as the total length of TA1B1R in Fig. 3, perhaps be the total length of TA2B2R.Be l=l _TA1+ l _A1B1+ l _B1R, or l=l _TA2+ l _A2B2+ l _B2R

Corresponding each bunch with reference to figure 3, can tentatively be determined the maximum distance a of primary scattering body _Max, make TR=d, use the cosine law and calculate, put in order, can obtain at last:

In like manner, can calculate the maximum distance b of rescattering body _Max:

$b_{\max }=\mathrm{RB}=\frac{1}{2}\·\frac{l^2-d^2}{l-d\·\cos \mathrm{\φ}}$

According to the actual measurement environment, can provide respectively with make a start and receiving end be initial point, the radius a in no scattering object zone _MinAnd b _Min, TC and RD in the difference corresponding diagram 3.Typically, under indoor scene, a can be set _Min=b _Min=1m; Under the outdoor scene, a _Min=10m, b _Min=5m.Like this, the position of primary scattering body and rescattering body is respectively on DB and CA.Thereby, can calculate the unique distance value b of rescattering body according to the primary scattering body to the distance value a that makes a start to receiving end.

Suppose that the primary scattering body is positioned at A ₁The place, the rescattering body is positioned at B ₁The place then according to the cosine law, is put in order, has:

$b=\frac{1}{2}\·\frac{{(l-a)}^2-c^2}{l-a-c\·\cos ({\mathrm{\γ}}_1-\mathrm{\φ})}$

Wherein,

The a that obtains according to aforementioned calculation _MinAnd a _Max, can calculate the span [b of b _{A, min}, b _{A, max}], thereby, can determine that the rescattering body should be in interval β=[max{b to the distance of receiving end _{A, min}, b _Min, b _{A, max}] in.

Secondly, estimate the excursion of the value of each bunch of current time MCD, obtain corresponding each bunch MCD threshold value.

Fig. 4 is the geometry schematic diagram of the excursion of the value of each bunch of embodiment of the invention estimation current time MCD.Referring to Fig. 4, T is the position of making a start; A1, A2 are the primary scattering body position; B1, B2 are the rescattering body position; R is the receiving end position;

With

Be respectively receiving end adjacent moment position.

Because

Obtain, for current time, when the rescattering body is positioned at max{b _{A, min}, b _MinAnd b _{A, max}During the place, corresponding minimum and maximum respectively MCD _AoAChange.For MCD _τ, with bunch

Be example, MCD _τDepend on

With

Between path length difference Δ d, establish $B_1{B}_{t_0}=b_0,$ $B_1{\mathrm{<figure-callout\; id="1"\; label="R\; t"\; filenames="H2009102423207E00041.png"\; state="\{\{state\}\}">R</figure-callout>}}_{t_{}}={\mathrm{<figure-callout\; id="1"\; label="b"\; filenames="H2009102423207E00041.png"\; state="\{\{state\}\}">b</figure-callout>}}_1,$ $R_{t_0}{\mathrm{<figure-callout\; id="1"\; label="R\; t"\; filenames="H2009102423207E00041.png"\; state="\{\{state\}\}">R</figure-callout>}}_{t_{}}=s,$ Can obtain:

$\mathrm{\&Delta;d}=b_1-b_0=\sqrt{b_0^2+s^2-2b_{0}s\&CenterDot;\cos \mathrm{\&alpha;}}-b_0$

Order $\frac{\&PartialD;\mathrm{\&Delta;d}}{\&PartialD;b_0}\&le;0,$ Obtain:

s ²(cos ²α-1)≤0

Following formula is obviously set up, thereby Δ d is b ₀Monotonically increasing function, i.e. MCD _τIncrease with rescattering body distance b reduces.So the excursion ε of the value of each old bunch of MCD reduces with the increase of b.

According to formula:

$\mathrm{MCD}=\frac{1}{\sqrt{3}}\sqrt{{\left|\right|{\mathrm{MCD}}_{\mathrm{AoA}}\left|\right|}^2+{\left|\right|{\mathrm{MCD}}_{\mathrm{AoD}}\left|\right|}^2+{\mathrm{MCD}}_{\mathrm{\&tau;}}^2}$

In the formula, MCD _AoD=0;

MCD _AoAThe scope of value can be passed through b ∈ β=[max{b _{A, min}, b _Min, b _{A, max}] obtain;

MCD _τThe scope of value can be determined by Δ d, like this, can obtain the excursion ε of the value of this old bunch of MCD, establishes $\mathrm{\&epsiv;}\&Element;\mathrm{\&epsiv;}=[{\mathrm{\&epsiv;}}_{b_{\max }},{\mathrm{\&epsiv;}}_{b_{\min }}].$

In the practical application, if consider s and b ₀Compare very for a short time, therefore, calculate

With

Often more approaching.For convenience's sake, can select $\mathrm{\&epsiv;}=\frac{{\mathrm{\&epsiv;}}_{b_{\max }}+{\mathrm{\&epsiv;}}_{b_{\min }}}{2},$ Like this, the excursion of the value of old bunch of MCD just is a determined value, below is referred to as old bunch of MCD threshold value or MCD threshold value.

Step 206 according to each bunch MCD threshold value obtained and each bunch MCD value that calculates, is carried out bunch tracking.

In this step, carry out and bunch to follow the tracks of promptly according to each bunch MCD threshold value of obtaining and each bunch MCD value and the predefined iteration track algorithm that calculate, generation, death and the survival determined bunch, promptly determine newborn bunch generation, old bunch death and survive.

Following elder generation describes relevant bunch the notion that the present invention relates to.

Newborn bunch: with the MCD value of arbitrary old bunch (be previous moment bunch) all greater than new bunch of this old bunch of MCD threshold value (be current time bunch);

Candidate's bunch collection: with of the new bunch set of certain MCD value of old bunch less than this old bunch of MCD threshold value;

Dead bunch: when not having corresponding candidate bunch for certain old bunch, this old bunch be death bunch;

Polymerization bunch collection: with of the old bunch set of certain MCD value of new bunch less than this old bunch of MCD threshold value;

Survival bunch: bunch do not concentrate when certain candidate of old bunch bunch only has an element and this old bunch in polymerization, then this old bunch with it pairing new bunch all be called and survive bunch.

Bunch numbering: bunch identifier.Newborn bunch is distributed new bunch numbering, and former bunch numbering bunch is continued to use in survival.

Candidate bunch and polymerization bunch are only carried out middle appearance at algorithm, and each old bunch and new bunch only existed one or more in newborn bunch, dead bunch and the survival bunch when algorithm finished.

By as seen above-mentioned, embodiment of the invention cluster of channels tracking, by obtaining the relative geography information of multipath channel impulse response data and transmitting-receiving two-end, multidimensional parameter information during from the multipath channel impulse response extracting data multipath that obtains empty, utilize predefined sub-clustering algorithm that multipath is carried out sub-clustering, and multidimensional parameter when obtaining the sub-clustering bunch heart empty, calculate the MCD value of each bunch of adjacent moment, estimate the excursion of each bunch MCD value according to the relative geography information of obtaining, obtain corresponding each bunch MCD threshold value, according to each bunch MCD threshold value obtained and each bunch MCD value that calculates, carry out bunch tracking.Like this, multidimensional parameter when considering positional information, motion state and bunch heart empty of transmitting-receiving two-end, unite and estimate each bunch MCD threshold value, every bunch all has each self-corresponding MCD threshold value, therefore closing to reality mechanism of transmission more, make this MCD threshold value possess rational physical significance and reliability, improved the precision of track algorithm; Further,, introduce the process that iteration is upgraded bunch label in the track algorithm, solved the assignment problem of bunch label carrying out when bunch following the tracks of.When many bunches of fusions take place when, new bunch of label continued to use the old bunch label nearest with it among the candidate bunch, other bunches will continue to seek nearest new bunch in the next iteration process, up to find certain new bunch or judge old bunch of death till, solved the source problem of coming of survival bunch, can more effectively tackle the phenomenon of bunch fusion, improve the robustness of track algorithm.

Fig. 5 carries out the method flow schematic diagram of bunch tracking for the embodiment of the invention.Referring to Fig. 5, this flow process comprises:

Step 501 is obtained the MCD value of each bunch of adjacent moment;

In this step, the MCD value of adjacent moment bunch can obtain in step 204.For example, for the cluster of channels that comprises M Geju City bunch and N new bunch, each old bunch comprises N MCD value, and each new bunch comprises M MCD value.

Preferably, the MCD value that obtains is formed the MCD matrix D of a M * N, wherein M and N represent the number of old bunch and new bunch respectively.Note D _{I, j}It is i Geju City bunch and j new bunch MCD value; D _I,(i=1,2 ..., be that the i of D is capable M), be old bunch of i and all MCD vectors of new bunch; D _{, j}(j=1,2 ..., be the j row of D N), be the new bunch of j and the MCD vector of being had been friends in the past bunch.

Step 502 is obtained old bunch of MCD threshold value;

In this step, can from step 205, calculate and obtain each old bunch of MCD threshold value.

Whether step 503, the MCD value of judging new bunch of adjacent moment greater than corresponding old bunch of MCD threshold value, if, execution in step 504, otherwise, execution in step 505;

In this step, traversal j=1,2 ..., N is with D _{, j}Compare with old bunch of MCD threshold value, if each element value is all greater than corresponding old bunch of MCD threshold value, execution in step 504 in the row.

For instance, as mentioned above, establishing the old bunch of MCD threshold value that comprises M Geju City bunch correspondence is ε ₁, ε ₂..., ε _mIf, D _{M, j}＞ε _m(m=1,2 ..., M; J=1,2 ..., N), then execution in step 504.

Step 504 determines that this new bunch is newborn bunch, is this new bunch bunch numbering that distribution is new;

In this step, new bunch except that newborn bunch is candidate's bunch collection.

Step 505, initialization are had been friends in the past and bunch are belonged to a virtual polymerization bunch collection, polymerization bunch collection number variable initial value q=1 are set, polymerization bunch element number C _q=M;

In this step, the number of polymerization bunch collection is Q, and then a polymerization bunch collection has 1,2 ..., Q altogether of Q.C _qRepresent q (q=1,2 ... Q) the old number of clusters order of individual candidate bunch collection.

Step 506, old bunch of traversal polymerization bunch collection calculates old bunch $k(k=1,...,\underset{q=1}{\overset{Q}{\mathrm{\&Sigma;}}}{C}_q)$ Corresponding candidate's number of clusters order L _k, if L _k=0, old bunch of k is dead bunch; If L _k≠ 0, then new bunch of MCD value minimum of this old bunch of k bunch concentrated in mark and polymerization in candidate bunch, redistributes polymerization bunch collection;

Whether step 507 detects and to exist old number of clusters greater than 1 polymerization bunch collection, if do not exist, then mark candidate bunch is survival bunch, and all the other bunches be new life bunch, distribute new bunch of numbering, the ending cluster trace flow; If there is execution in step 508;

Step 508, number of clusters is had been friends in the past greater than 1 the polymerization bunch pairing candidate of collection bunch by traversal institute, and the minimum candidate's bunch element of mark MCD value is survival bunch, and this candidate bunch element and this polymerization bunch element are deleted, upgrade the number of polymerization bunch collection and polymerization bunch element, return step 506.

Fig. 6 carries out the method idiographic flow schematic diagram of bunch tracking for the embodiment of the invention.Referring to Fig. 6, this flow process comprises:

Step 601 is calculated the MCD value in N new bunch and M Geju City bunch;

Step 602 is obtained each old bunch of MCD threshold value;

Step 603 is established initial value i=1, writes down new bunch of i and the MCD value of being had been friends in the past bunch respectively;

Step 604 writes down the number n of the MCD value of new bunch of i and old bunch greater than corresponding old bunch of MCD threshold value;

Step 605 judges whether n equals N, if, execution in step 606, otherwise, execution in step 607;

Step 606, this new bunch of i of mark is newborn bunch, and distributes new bunch numbering, execution in step 607;

Step 607 judges whether i equals N, if, execution in step 608, otherwise, i=i+1, execution in step 603;

Step 608 is established initial value j=1, C=M, candidate's number of clusters order L of record polymerization bunch j correspondence;

Step 609 judges whether L equals zero, if, execution in step 611, otherwise, execution in step 610;

Step 610, new bunch of MCD value minimum of this old bunch of j bunch concentrated in mark and polymerization in candidate bunch, redistributes polymerization bunch collection, execution in step 611;

Step 611 judges whether j equals C, if, execution in step 612, otherwise, j=j+1, execution in step 608;

Step 612 judges whether to exist polymerization bunch, if, execution in step 613, otherwise, execution in step 615;

Step 613, the candidate of the nearest polymerization of mark bunch correspondence bunch is survival bunch, and deletion from candidate bunch;

Step 614 is deleted nearest polymerization bunch, upgrades polymerization number of clusters order C, returns execution in step 608;

Step 615, mark candidate bunch is survival bunch, non-candidate bunch be new life bunch.

Again the cluster of channels tracking means of the embodiment of the invention is described below.

Fig. 7 is an embodiment of the invention cluster of channels tracking means structural representation.Referring to Fig. 7, this device comprises: measurement module, pretreatment module, estimation module and tracking module, wherein,

Measurement module is used to obtain multipath channel impulse response data and transmitting-receiving two-end geography information;

In the present embodiment, measurement module is according to obtaining multipath channel impulse response data and transmitting-receiving two-end geography information with the channel sample speed of receiving end rate travel coupling.Go for the mimo systems of upstream or downstream.

In the practical application, can in measurement module, dispose accurately instant navigation system, in order to the geographical location information of record transmitting-receiving two-end.In addition, measurement module can also be calibrated the cluster of channels tracking means.

Pretreatment module, multidimensional parameter information when being used for from the multipath channel impulse response extracting data multipath that obtains empty, obtain relative geography information according to the transmitting-receiving two-end geography information, utilize predefined sub-clustering algorithm that multipath is carried out sub-clustering, and multidimensional parameter information when obtaining the sub-clustering bunch heart empty;

Estimation module, when being used for according to the sub-clustering bunch heart empty the multidimensional parameter and relatively geography information estimate each bunch MCD threshold value;

In the present embodiment, the time delay of estimation module utilization bunch is determined the length of propagation path, utilize the angle information of sending and receiving end to determine the scattering object direction, and then retrain the scattering object distributed areas jointly, then, the radius that does not have a scattering object zone according to the actual measurement environment further dwindles the distributed areas of scattering object, and is last, determine each bunch MCD threshold value jointly, the different MCD threshold value of different bunch correspondences according to the position of scattering object and the displacement of travelling carriage.

Tracking module, the MCD value of each bunch of calculating adjacent moment is according to each bunch MCD threshold value of obtaining and each bunch MCD value that calculates, tracking cluster.

Pretreatment module comprises parameter extraction submodule, sub-clustering submodule and geography information submodule, wherein,

The parameter extraction submodule is used for receive channel impulse response data, extracts multidimensional parameter information when comprising multipath power, time delay and angle information empty according to predefined algorithm for estimating, exports the sub-clustering submodule to;

The sub-clustering submodule, multidimensional parameter information when being used to receive parameter extraction submodule output empty, and carry out sub-clustering, multidimensional parameter information when obtaining comprising sub-clustering bunch heart power, time delay and angle information empty according to predefined sub-clustering algorithm;

The geography information submodule, the geodata that is used for the collection that will receive is carried out format conversion, and relative geography information is obtained in go forward side by side row interpolation and adjustment.

In the above-mentioned example, estimation module receives the output of sub-clustering submodule and geography information submodule, estimates the MCD threshold value of per each bunch of the moment.

Follow the tracks of submodule, comprise calculating sub module and comparison and updating submodule, wherein,

Calculating sub module is used to calculate each bunch of adjacent moment MCD value, generates the MCD matrix, exports to comparison and updating submodule;

Comparison and updating submodule are used to receive the MCD threshold value of each bunch of the MCD matrix of calculating sub module output and estimation module output, according to the state that upgrades bunch with the iterative target track algorithm of setting earlier.

Relatively and updating submodule to the judgement of bunch state based on every bunch of MCD threshold value separately, this MCD threshold value determines jointly by the position of scattering object and the displacement of travelling carriage.The state that adopts the mode of iteration to judge bunch needs to check whether a plurality of old bunch of situations (polymerization bunch) that converge to new bunch are arranged after obtaining result of determination.If exist, then continue to use the old bunch numbering nearest for this new bunch with it, carry out iteration again, till not having polymerization bunch.

Bunch the state generation, death and the existing state that comprise bunch.

In the present embodiment, relatively and updating submodule old bunch numbering bunch is continued to use in survival, the new bunch numbering that produces appointment state arbitrarily from unappropriated numbering still not influence bunch.

The above is preferred embodiment of the present invention only, is not to be used to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of being done, be equal to and replace and improvement etc., all should be included within protection scope of the present invention.

Claims (15)

1. a cluster of channels tracking is characterized in that, this method comprises:

Obtain the relative geography information of multipath channel impulse response data and transmitting-receiving two-end;

Multidimensional parameter information during from the multipath channel impulse response extracting data multipath that obtains empty;

Utilize predefined sub-clustering algorithm that multipath is carried out sub-clustering, and multidimensional parameter when obtaining the sub-clustering bunch heart empty;

Calculate the maximum nearest neighbor distance MCD value of each bunch of adjacent moment;

Estimate the excursion of each bunch MCD value according to the relative geography information of obtaining, obtain corresponding each bunch MCD threshold value;

According to each bunch MCD threshold value obtained and each bunch MCD value that calculates, carry out bunch tracking.

2. the method for claim 1 is characterized in that, the described step of obtaining multipath channel impulse response data comprises:

On predefined measurement route, under the situation that the reference direction that guarantees the transmitting-receiving two-end aerial array remains unchanged, obtain the channel impulse response data on the predefined time period sequence in measuring process.

3. method as claimed in claim 2 is characterized in that, described geographical relatively packets of information is drawn together: air line distance, the direction of motion and line of sight direction angle.

4. as each described method of claim 1 to 3, it is characterized in that multidimensional parameter information during from the multipath channel impulse response extracting data multipath that obtains empty by space-alternating broad sense expectation maximization SAGE algorithm.

5. method as claimed in claim 4 is characterized in that, the multidimensional parameter information specifically comprises during described multipath empty: multipath power, multidiameter delay, level are left the angle and the horizontal angle of arrival.

6. method as claimed in claim 5 is characterized in that, describedly utilizes predefined sub-clustering algorithm that multipath is carried out sub-clustering, and the step of multidimensional parameter comprises when obtaining the sub-clustering bunch heart empty:

The multipath power that comprises in the multidimensional parameter information during according to multipath empty utilizes the KPowerMeans algorithm that multipath is carried out sub-clustering, and multidimensional parameter when the multidimensional parameter information obtains the corresponding sub-clustering bunch heart empty during according to the multipath that obtains empty.

7. method as claimed in claim 6 is characterized in that, the multidimensional parameter comprises a bunch heart power, bunch heart time delay, the flat angle and the flat angle of arrival of bunch edema with the heart involved of leaving of bunch edema with the heart involved during the described bunch of heart empty.

8. as each described method of claim 1 to 3, it is characterized in that the computing formula of the maximum nearest neighbor distance MCD value of described each bunch of calculating adjacent moment is:

${\mathrm{MCD}}_{\mathrm{ij}}=\frac{1}{\sqrt{3}}\sqrt{{\left|\right|{\mathrm{MCD}}_{\mathrm{AoA},\mathrm{ij}}\left|\right|}^2+{\left|\right|{\mathrm{MCD}}_{\mathrm{AoD},\mathrm{ij}}\left|\right|}^2+{\mathrm{MCD}}_{\mathrm{\&tau;},\mathrm{ij}}^2}$

In the formula, subscript i, j represent bunch calculation order of adjacent moment, MCD _{AoA, ij}The MCD value of expression adjacent moment bunch heart angle of arrival AOA, MCD _{AoD, ij}Expression bunch heart adjacent moment is left the MCD value of angle AOD, MCD _{τ, ij}It is the MCD value of adjacent moment bunch heart time delay.

9. method as claimed in claim 8 is characterized in that,

${\mathrm{MCD}}_{\mathrm{AoA},\mathrm{ij}}=\frac{1}{2}\left|\begin{array}{c}\cos \left({\mathrm{\&phi;}}_j\right)-\cos \left({\mathrm{\&phi;}}_i\right)\\ \sin \left({\mathrm{\&phi;}}_j\right)-\sin \left({\mathrm{\&phi;}}_i\right)\end{array}\right|$

${\mathrm{MCD}}_{\mathrm{\&tau;},\mathrm{ij}}=\mathrm{\&zeta;}\&CenterDot;\frac{|{\mathrm{\&tau;}}_j-{\mathrm{\&tau;}}_i|}{{\max }_{i,j}\left\{\right|{\mathrm{\&tau;}}_j-{\mathrm{\&tau;}}_i\left|\right\}}$

In the formula,

The expression level is left the angle, and φ represents the horizontal angle of arrival, and τ is a time delay, and ζ is that time delay is adjusted the factor.

10. the method for claim 1 is characterized in that, the relative geography information that described basis is obtained is estimated the excursion of each bunch MCD value, and the step of obtaining corresponding each bunch MCD threshold value comprises:

Multidimensional parameter during according to the relative geography information of obtaining and bunch heart empty is set up the geometry of make a start position, receiving end position, primary scattering body position and rescattering body position;

Obtain the excursion of the MCD value of the rescattering body of each bunch of current time correspondence and receiving end according to the geometry of setting up;

According to the excursion of the value of each bunch of Displacement Estimation current time MCD of scattering object position and receiving end, obtain corresponding each bunch MCD threshold value.

11. method as claimed in claim 10 is characterized in that, each bunch MCD threshold value that described basis is obtained and each bunch MCD value that calculates, and the step of carrying out bunch tracking comprises:

To deposit bunch collection less than new bunch of this old bunch of MCD threshold value with old bunch MCD value into the candidate:

To deposit into polymerization bunch collection with new bunch MCD value old bunch less than this old bunch of MCD threshold value;

Obtain MCD value and old bunch of MCD threshold value of each bunch of adjacent moment;

Whether the MCD value of judging new bunch of adjacent moment greater than corresponding old bunch of MCD threshold value, if, be this new bunch and distribute new bunch numbering, otherwise, following steps carried out;

Initialization polymerization bunch collection is provided with polymerization bunch collection number variable initial value q=1, polymerization bunch element number C _q=M;

Old bunch of traversal polymerization bunch collection calculates old bunch $k(k=1,\&CenterDot;\&CenterDot;\&CenterDot;,\underset{q=1}{\overset{Q}{\mathrm{\&Sigma;}}}{C}_q)$ Corresponding candidate's number of clusters order L _k, wherein, Q is the number of polymerization bunch collection, if L _k=0, old bunch of k is dead bunch; If L _k≠ 0, then new bunch of MCD value minimum of this old bunch of k bunch concentrated in mark and polymerization in candidate bunch, redistributes polymerization bunch collection;

Whether detect exists old number of clusters greater than 1 polymerization bunch collection, if exist, traversal institute's number of clusters of haveing been friends in the past bunch collects pairing candidate bunch greater than 1 polymerization, the minimum candidate's bunch element of mark MCD value is survival bunch, and with this candidate bunch element and this polymerization bunch element deletion, upgrade the number of polymerization bunch collection and polymerization bunch element, return old bunch step carrying out traversal polymerization bunch collection; If do not exist, then mark candidate bunch is survival bunch, and all the other bunches be newborn bunch, and be new life's bunch new bunch of numbering of distribution.

12. a cluster of channels tracking means is characterized in that, this device comprises: measurement module, pretreatment module, estimation module and tracking module, wherein,

Measurement module is used to obtain multipath channel impulse response data and transmitting-receiving two-end geography information;

Pretreatment module, multidimensional parameter information when being used for from the multipath channel impulse response extracting data multipath that obtains empty, obtain relative geography information according to the transmitting-receiving two-end geography information, utilize predefined sub-clustering algorithm that multipath is carried out sub-clustering, and multidimensional parameter information when obtaining the sub-clustering bunch heart empty;

Estimation module, when being used for according to the sub-clustering bunch heart empty the multidimensional parameter and relatively geography information estimate each bunch MCD threshold value;

Tracking module, the MCD value of each bunch of calculating adjacent moment is according to each bunch MCD threshold value of obtaining and each bunch MCD value that calculates, tracking cluster.

13. device as claimed in claim 12 is characterized in that, described pretreatment module comprises parameter extraction submodule, sub-clustering submodule and geography information submodule, wherein,

The parameter extraction submodule is used for receive channel impulse response data, extracts multidimensional parameter information when comprising multipath power, time delay and angle information empty according to predefined algorithm for estimating, exports the sub-clustering submodule to;

The sub-clustering submodule, multidimensional parameter information when being used to receive parameter extraction submodule output empty, and carry out sub-clustering, multidimensional parameter information when obtaining comprising sub-clustering bunch heart power, time delay and angle information empty according to predefined sub-clustering algorithm;

The geography information submodule, the geodata that is used for the collection that will receive is carried out format conversion, and relative geography information is obtained in go forward side by side row interpolation and adjustment.

14., it is characterized in that described tracking submodule comprises calculating sub module and comparison and updating submodule as claim 12 or 13 described devices, wherein,

Calculating sub module is used to calculate each bunch of adjacent moment MCD value, generates the MCD matrix, exports to comparison and updating submodule;

Comparison and updating submodule are used to receive the MCD threshold value of each bunch of the MCD matrix of calculating sub module output and estimation module output, according to the state that upgrades bunch with the iterative target track algorithm of setting earlier.

15. device as claimed in claim 14, it is characterized in that, the generation that described bunch state comprises bunch, death and survival, described comparison and updating submodule are provided with survival and bunch continue to use old bunch numbering, and the new bunch numbering that produces is from still specifying arbitrarily the unappropriated numbering.

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