CN106501766A - Antenna array signals processing method and processing device - Google Patents
Antenna array signals processing method and processing device Download PDFInfo
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- CN106501766A CN106501766A CN201610932163.2A CN201610932163A CN106501766A CN 106501766 A CN106501766 A CN 106501766A CN 201610932163 A CN201610932163 A CN 201610932163A CN 106501766 A CN106501766 A CN 106501766A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
- G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
- G01S3/48—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems the waves arriving at the antennas being continuous or intermittent and the phase difference of signals derived therefrom being measured
Abstract
The present invention discloses a kind of antenna array signals processing method and processing device, achieves the DOA estimate of minimal user operation, and algorithm for estimating is expanded under three dimensions and multi-path environment on commercial wireless devices.The method includes：S10, the phase contrast for calculating the ofdm signal received before and after aerial array is rotated for the first time and second respectively, and the anglec of rotation of the first time and second rotation is measured using inertial sensor；S11, according to the equivalent direction of arrival of the phase difference calculating；S12, two-dimentional direction of arrival of the ofdm signal received before and after the aerial array is rotated for the first time and second in the plane of sense and the aerial array is calculated according to the equivalent direction of arrival and the anglec of rotation.
Description
Technical field
The present invention relates to Array Signal Processing field, and in particular to a kind of antenna array signals processing method and processing device.
Background technology
In recent years, based on antenna array scheme wireless aware is theoretical to obtain important breakthrough with technology, is applied to equipment fixed
Position, human body are followed the trail of, the multiple fields such as man-machine interaction.What these were applied it is critical only that antenna array signals are processed.Especially, ripple reaches
Angular estimation is the basic technology of the applications such as accurate indoor positioning, wireless security communication, wireless coverage control and passive man-machine interaction.
However, DOA estimate cannot still be applied to commercial wireless apparatus.In principle, array is more comprising antenna, direction of arrival measurement essence
Degree is higher.However, major part business equipment is only provided with a small amount of antenna at present, three are usually no more than.This causes directly use
The DOA estimate of business machine is unable to reach accuracy requirement.
Further, using a driving through fine setting of business network interface card and the network interface card, upper-layer user can be from every number
According to one group is obtained in bag include M=3 root antennas, the channel frequency corresponding information of N=30 subcarrier, i.e. CSI：
Wherein each component represent OFDM (Orthogonal Frequency Division Multiplexing, just
Hand over frequency division multiplexing) signal corresponding subcarrier amplitude and phase place, i.e.,：
Here, H (ai,fj) it is antenna aiMid frequency be fjSubcarrier CSI, | | H (ai,fj) | | represent CSI's
Amplitude, ＜ H (ai,fj) represent that the phase place of CSI (for the sake of simplicity, remembers that measurement phase place is).The measurement phase place of CSI and true phase
Position is compared with serious phase offset, and its phase place can be expressed as
Wherein, φi,jIt is channel true phase, contains direction of arrival information, δ is that receiver clock offsets, βiIt is i-th
The constant phase deviation of antenna, Z is random noise.kjIt is the sub-carrier indices of j-th subcarrier, K is sub-carrier indices sum.
In above-mentioned phase deviation, the phase deviation introduced by clock jitter δ is measured without impact on direction of arrival, because all days
Line has identical phase deviation, and direction of arrival is only poor with antenna phase relevant.However, different antennae has different constants not
Know deviation βi, direction of arrival measurement will be affected.It is illustrated in figure 1 the two antenna array application MUSIC with random phase offset to calculate
Method estimates direction of arrival result figure, when phase deviation βiFor 0 when, direction of arrival be 120 degree.Unknown phase deviation has had a strong impact on ripple and has reached
Angular estimation precision so that traditional DOA estimate algorithm cannot be applied directly on business equipment.And worked or only fitted
Fixing equipment for known relative position needs to introduce a large amount of manual operations to form synthetic aperture radar.Based on business
The direction of arrival measurement of mobile device is still urgently further studied.
Content of the invention
In view of this, the present invention provides a kind of antenna array signals processing method and processing device, real on commercial wireless devices
Show the DOA estimate of minimal user operation, and algorithm for estimating has been expanded under three dimensions and multi-path environment, and need not
Know the relative position of equipment.
On the one hand, the embodiment of the present invention proposes a kind of antenna array signals processing method, including：
S10, the phase contrast for calculating the ofdm signal received before and after aerial array is rotated for the first time and second respectively, and
The anglec of rotation that the first time and second rotation are measured using inertial sensor；
S11, according to the equivalent direction of arrival of the phase difference calculating；
S12, the aerial array is calculated according to the equivalent direction of arrival and the anglec of rotation revolve for the first time and second
Turn the two-dimentional direction of arrival of the ofdm signal that receives in front and back in the plane of sense and the aerial array.
Antenna array signals processing method provided in an embodiment of the present invention, it is desirable to which the double equipment in rotary moving of user is simultaneously
Absolute DOA estimate is converted to relative DOA estimate by the phase contrast of the signal of antenna array receiver before and after measurement rotation,
The method has two advantages：First, because the unknown phase deviation of every antenna is constant in array, before and after calculating rotation
Signal phase difference can eliminate phase deviation；Second, because signal residual quantity does not include phase deviation, its equivalent direction of arrival can pass through
MUSIC scheduling algorithms estimate that further, equivalent direction of arrival is relevant with array rotation angle, obtain equipment rotation using inertial sensor
Gyration, you can calculate the direction of arrival before and after rotation.Whole process user only needs to double equipment in rotary moving
Realize that accurate direction of arrival is calculated, it is achieved that the DOA estimate of minimal user operation.
On the other hand, the embodiment of the present invention proposes a kind of antenna array signals processing method, including：
S20, the phase contrast for calculating the ofdm signal received before and after aerial array is rotated for the first time and second respectively；
S21, according to the equivalent direction of arrival of the phase difference calculating；
S22, calculated according to the equivalent direction of arrival before and after the aerial array is rotated for the first time and second and receive
Ofdm signal three-dimensional direction of arrival, wherein, the three-dimensional direction of arrival includes horizontal azimuth and Vertical Square parallactic angle.
Antenna array signals processing method provided in an embodiment of the present invention, it is desirable to which the double equipment in rotary moving of user is simultaneously
Absolute DOA estimate is converted to relative DOA estimate by the phase contrast of the signal of antenna array receiver before and after measurement rotation,
The method has two advantages：First, because the unknown phase deviation of every antenna is constant in array, before and after calculating rotation
Signal phase difference can eliminate phase deviation；Second, because signal residual quantity does not include phase deviation, its equivalent direction of arrival can pass through
MUSIC scheduling algorithms estimate that further, direction of arrival has space geometry relation with horizontal azimuth and Vertical Square parallactic angle, utilizes
The relation of the space geometry relation and equivalent direction of arrival and relative direction of arrival, you can calculate the direction of arrival before and after rotation.Whole
Individual process user only needs to double equipment in rotary moving and can achieve accurate direction of arrival calculating, it is achieved that minimal user is grasped
The three-dimensional DOA estimate of work.
On the other hand, the embodiment of the present invention proposes a kind of antenna array signals processing method, including：
S30, the phase contrast for calculating the ofdm signal received before and after aerial array is rotated for the first time and second respectively；
S31, according to the equivalent direction of arrival of the phase difference calculating；
S32, calculated according to the equivalent direction of arrival before and after the aerial array is rotated for the first time and second and receive
Ofdm signal three-dimensional direction of arrival, wherein, the three-dimensional direction of arrival includes horizontal azimuth and Vertical Square parallactic angle；
S33, phase alignment is carried out to the aerial array using the three-dimensional direction of arrival；
S34, using phase alignment after aerial array carry out signal DOA estimate.
Antenna array signals processing method provided in an embodiment of the present invention, because carrying out to the mobile device of Location-Unknown
Calibration, therefore double first equipment in rotary moving is to calculate three-dimensional direction of arrival, replaces transmitter with three-dimensional direction of arrival afterwards
With the relative position of receiver, phase alignment is carried out to aerial array with this, the aerial array after calibration can eliminate unknown phase
Position deviation, estimates direction of arrival using traditional DOA estimate algorithm afterwards, and in order to apply in multi-path environment, the present invention will
User is asked to be located in calibration in the range of the los path near transmitter, slewing is estimating direction of arrival.In the case,
Los path signal intensity is far above obstructed path signal intensity, and multipath effect is weaker, can obtain accurate direction of arrival and estimate
Meter such that it is able to realize aerial array accurate phase calibration, using calibration after aerial array i.e. can achieve multi-path environment under
The accurate estimation of direction of arrival.Whole process user only needs to double equipment in rotary moving, and executes reality by primary calibration
Under existing multi-path environment, accurately direction of arrival is calculated, it is achieved that the DOA estimate of minimal user operation, and is reached using three-dimensional wave
The relative position of transmitter and receiver is replaced at angle, so as to know the relative position of equipment.
On the other hand, the embodiment of the present invention proposes a kind of antenna array signals processing meanss, including：
First computing unit, for calculating the OFDM letters received before and after aerial array is rotated for the first time and second respectively
Number phase contrast, and measure the anglec of rotation of first time and second rotation using inertial sensor；
Second computing unit, for according to the equivalent direction of arrival of the phase difference calculating；
3rd computing unit, for calculating the aerial array first according to the equivalent direction of arrival and the anglec of rotation
Two-dimentional ripple of the ofdm signal received before and after secondary and second rotation in the plane of sense and the aerial array
Reach angle.
Antenna array signals processing meanss provided in an embodiment of the present invention, it is desirable to which the double equipment in rotary moving of user is simultaneously
Absolute DOA estimate is converted to relative DOA estimate by the phase contrast of the signal of antenna array receiver before and after measurement rotation,
There are two advantages：First, because the unknown phase deviation of every antenna is constant in array, calculate the signal before and after rotation
Phase contrast can eliminate phase deviation；Second, because signal residual quantity does not include phase deviation, its equivalent direction of arrival can pass through
MUSIC scheduling algorithms estimate that further, equivalent direction of arrival is relevant with array rotation angle, obtain equipment rotation using inertial sensor
Gyration, you can calculate the direction of arrival before and after rotation.Whole process user only needs to double equipment in rotary moving
Realize that accurate direction of arrival is calculated, it is achieved that the DOA estimate of minimal user operation.
On the other hand, the embodiment of the present invention proposes a kind of antenna array signals processing meanss, including：
4th computing unit, for calculating the OFDM letters received before and after aerial array is rotated for the first time and second respectively
Number phase contrast；
5th computing unit, for according to the equivalent direction of arrival of the phase difference calculating；
6th computing unit, for calculating the aerial array for the first time and second according to the equivalent direction of arrival
The three-dimensional direction of arrival of the ofdm signal received before and after rotation, wherein, the three-dimensional direction of arrival includes horizontal azimuth and Vertical Square
Parallactic angle.
Antenna array signals processing meanss provided in an embodiment of the present invention, it is desirable to which the double equipment in rotary moving of user is simultaneously
Absolute DOA estimate is converted to relative DOA estimate by the phase contrast of the signal of antenna array receiver before and after measurement rotation,
There are two advantages：First, because the unknown phase deviation of every antenna is constant in array, calculate the signal before and after rotation
Phase contrast can eliminate phase deviation；Second, because signal residual quantity does not include phase deviation, its equivalent direction of arrival can pass through
MUSIC scheduling algorithms estimate that further, direction of arrival has space geometry relation with horizontal azimuth and Vertical Square parallactic angle, utilizes
The relation of the space geometry relation and equivalent direction of arrival and relative direction of arrival, you can calculate the direction of arrival before and after rotation.Whole
Individual process user only needs to double equipment in rotary moving and can achieve accurate direction of arrival calculating, it is achieved that minimal user is grasped
The three-dimensional DOA estimate of work.
On the other hand, the embodiment of the present invention proposes a kind of antenna array signals processing meanss, including：
7th computing unit, for calculating the OFDM letters received before and after aerial array is rotated for the first time and second respectively
Number phase contrast；
8th computing unit, for according to the equivalent direction of arrival of the phase difference calculating；
9th computing unit, for calculating the aerial array for the first time and second according to the equivalent direction of arrival
The three-dimensional direction of arrival of the ofdm signal received before and after rotation, wherein, the three-dimensional direction of arrival includes horizontal azimuth and Vertical Square
Parallactic angle；
Alignment unit, for carrying out phase alignment using the three-dimensional direction of arrival to the aerial array；
Estimation unit, carries out signal DOA estimate for the aerial array after using phase alignment.
Antenna array signals processing meanss provided in an embodiment of the present invention, because carrying out to the mobile device of Location-Unknown
Calibration, therefore double first equipment in rotary moving is to calculate three-dimensional direction of arrival, replaces transmitter with three-dimensional direction of arrival afterwards
With the relative position of receiver, phase alignment is carried out to aerial array with this, the aerial array after calibration can eliminate unknown phase
Position deviation, estimates direction of arrival using traditional DOA estimate algorithm afterwards, and in order to apply in multi-path environment, the present invention will
User is asked to be located in calibration in the range of the los path near transmitter, slewing is estimating direction of arrival.In the case,
Los path signal intensity is far above obstructed path signal intensity, and multipath effect is weaker, can obtain accurate direction of arrival and estimate
Meter such that it is able to realize aerial array accurate phase calibration, using calibration after aerial array i.e. can achieve multi-path environment under
The accurate estimation of direction of arrival.Whole process user only needs to double equipment in rotary moving, and executes reality by primary calibration
Under existing multi-path environment, accurately direction of arrival is calculated, it is achieved that the DOA estimate of minimal user operation, and is reached using three-dimensional wave
The relative position of transmitter and receiver is replaced at angle, so as to know the relative position of equipment.
Description of the drawings
Fig. 1 is that the two antenna array application MUSIC algorithms with random phase offset estimate direction of arrival result figure；
Schematic flow sheets of the Fig. 2 for one embodiment of inventive antenna array signal processing method；
Schematic diagrams of the Fig. 3 for user's wireless device in rotary moving；
Fig. 4 is the direction of arrival schematic diagram before and after aerial array rotates twice；
Fig. 5 by rotating the direction of arrival schematic diagram for calculating twice for aerial array；
Schematic flow sheets of the Fig. 6 for another embodiment of inventive antenna array signal processing method；
Fig. 7 is three-dimensional direction of arrival schematic diagram；
Schematic flow sheets of the Fig. 8 for the another embodiment of inventive antenna array signal processing method；
Structural representations of the Fig. 9 for one embodiment of inventive antenna Array Signal Processing device；
Structural representations of the Figure 10 for another embodiment of inventive antenna Array Signal Processing device；
Structural representations of the Figure 11 for the another embodiment of inventive antenna Array Signal Processing device.
Specific embodiment
Purpose, technical scheme and advantage for making the embodiment of the present invention is clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, to the embodiment of the present invention in technical scheme be explicitly described, it is clear that described embodiment be the present invention
A part of embodiment, rather than whole embodiments.Embodiment in based on the present invention, those of ordinary skill in the art are not having
The every other embodiment obtained under the premise of making creative work, belongs to the scope of protection of the invention.
Referring to Fig. 2, the present embodiment discloses a kind of antenna array signals processing method, including：
S10, the phase contrast for calculating the ofdm signal received before and after aerial array is rotated for the first time and second respectively, and
The anglec of rotation that the first time and second rotation are measured using inertial sensor；
S11, according to the equivalent direction of arrival of the phase difference calculating；
S12, the aerial array is calculated according to the equivalent direction of arrival and the anglec of rotation revolve for the first time and second
Turn the two-dimentional direction of arrival of the ofdm signal that receives in front and back in the plane of sense and the aerial array.
When wireless signal reaches M units linear array, the measurement phase place of the CSI of i-th antenna is：
Wherein d represents that antenna distance, λ represent that signal wavelength, θ represent direction of arrival, βiRepresent the constant phase of i-th antenna
Deviation, Z represent random noise.In order to eliminate constant phase deviation βi, the different attitudes of present invention proposition difference MUSIC algorithm estimation
The phase place change of lower array signal.
Difference MUSIC algorithm utilizes antenna phase deviation βiInvariance, calculate the phase place of array signal under different attitudes
Differ to eliminate this phase deviation.What the present embodiment was calculated is that the two-dimentional ripple in the plane of sense and aerial array reaches
Angle, then user needs equipment in rotary moving in the plane of sense and aerial array as shown in Figure 3 first.Such as Fig. 4
Shown, it is assumed that signal is transmitted into up to aerial array (propagation of signal less parallel) by remote signaling source, and direction of arrival is θ1, Yong Huxuan
The note anglec of rotation for turning array is Δ θ, then after rotating, direction of arrival is θ2=θ1+Δθ.
Remember that signal phase of i-th antenna before and after rotation isWithBefore and after then rotating, phase contrast is：
Phase contrast by computing array before and after rotation, constant phase deviation βiIt is eliminated.Further, by defining θ21
=cos-1(cosθ2-cosθ1), above-mentioned signal phase difference can by equivalent as direction of arrival be θ21Signal phase, while not
Comprising any phase deviation.Therefore, to above-mentioned signal phase difference application MUSIC algorithms, equivalent direction of arrival θ can be estimated21.This
Outward, anglec of rotation Δ θ can be obtained by the built-in inertial sensor of equipment, you can obtain equation below group：
θ21Uniqueness can by constrain array direction of rotation and antenna distance ensureing.Specifically, because cos
θ21=cos θ2-cosθ1With Δ θ=θ2-θ1Symbol conversely, cos θ can be determined according to the symbol of Δ θ21Span for [-
2,0) or (0,2].Further, half-wavelength is less than by limiting adjacent antenna spacing, i.e.,Can determine thatValue
Scope for [- 2 π, 0) or (0,2 π], i.e., less than 2 π, meet requirement of the MUSIC algorithms to phase place uniqueness.
Direction of arrival θ after rotating2Use θ1+ Δ θ represents, following equation is obtained：
However, as sin functions are interior with ambiguousness in [0, π], there are two groups of solutions in above formula：
With
For disambiguation, user needs additionally once to be rotated, and measures second postrotational signal phase,
Now direction of arrival is θ3.(direction of arrival θ before and after by rotating to first time1, θ2) phase place and second rotate before and after (direction of arrival
θ2, θ3) phase place apply difference MUSIC algorithm respectively, 4 groups of candidate solutions can be obtained.Such as Fig. 5 (θ ' in Fig. 53With θ "3Respectively
Two solutions of second postrotational direction of arrival) shown in, remember direction of arrival θ2Solution be θ '2；iWith θ "2；i(3) i=1, then just only has
True solution θ '2；1With θ '2；3Overlap.Therefore, by choosing θ2Two groups of minimum solutions of gap, you can measure correct direction of arrival.
It is further to note that rotation angle of equipment can be measured by built-in inertial sensor.The present invention can be utilized
The gyroscope measuring apparatus anglec of rotation.Gyroscope on commercialization mobile device has very high degree of precision at present, meets direction of arrival measurement
Demand.The present invention obtains angular velocity sampling from gyroscope, and sampling has following form：
(T,wx,wy,wz),
Wherein T was stabbed for the sampling time, wx,wy,wzRespectively x under local coordinate system, the angular velocity of tri- axle of y, z.Using
Euler Axis/Angle algorithms calculate the anglec of rotation.Under direction of arrival measurement scene, user's handheld device was carried out less than 3 seconds
The rotation process of clock, corresponding rotation angle measurement error meet direction of arrival measurement demand less than 0.5.
Antenna array signals processing method provided in an embodiment of the present invention, by introducing artificial equipment rotation process, shape
Into virtual space-time array, relative DOA estimate is carried out, it is desirable to the double equipment in rotary moving of user before and after measuring rotation
Absolute DOA estimate is converted to relative DOA estimate by the phase contrast of the signal of antenna array receiver, and the method has two
Advantage：First, because the unknown phase deviation of every antenna is constant in array, the signal phase difference calculated before and after rotating can
To eliminate phase deviation；Second, because signal residual quantity does not include phase deviation, its equivalent direction of arrival can pass through MUSIC scheduling algorithms
Estimate, further, equivalent direction of arrival is relevant with array rotation angle, rotation angle of equipment is obtained using inertial sensor, you can
Calculate the direction of arrival before and after rotating.Whole process user only needs to double equipment in rotary moving and can achieve accurate ripple
Calculate up to angle, it is achieved that the DOA estimate of minimal user operation.
Referring to Fig. 6, the present embodiment discloses a kind of antenna array signals processing method, including：
S20, the phase contrast for calculating the ofdm signal received before and after aerial array is rotated for the first time and second respectively；
S21, according to the equivalent direction of arrival of the phase difference calculating；
S22, calculated according to the equivalent direction of arrival before and after the aerial array is rotated for the first time and second and receive
Ofdm signal three-dimensional direction of arrival, wherein, the three-dimensional direction of arrival includes horizontal azimuth and Vertical Square parallactic angle.
As signal is propagated in three dimensions, actual signal direction of arrival includes horizontal azimuth and Vertical Square parallactic angle two
Point, as shown in Figure 7.However, commercial wireless apparatus are normally only provided with linear array.Therefore, MUSIC algorithms are only capable of signal calculated
Direction of arrival in the plane of sense and array direction, i.e. θ in Fig. 7.For simultaneously calculated level azimuth and
Vertical Square parallactic angle, present invention utilizes estimate direction of arrival θ with horizontal azimuth γ and the geometrical relationship of Vertical Square parallactic angle τ：
Cos θ=cos γ cos τ (6)
According to two-dimentional direction of arrival measuring method, output knot of the difference MUSIC algorithm under three dimensions with regard to rotating twice
It is really：
cosθ21=(cos γ2-cosγ1)cosτ (7)
cosθ32=(cos γ3-cosγ2)cosτ (8)
γ in formula (7) and formula (8)1、γ2And γ3Before respectively rotating for the first time, after rotating for the first time and for the second time
Postrotational horizontal azimuth, is the corresponding equivalent direction of arrival of second rotation.
The anglec of rotation meets hypothesis equipment in the horizontal plane：
Δθ21=γ2-γ1(9)
Δθ32=γ3-γ2(10)
In formula (9) and formula (10), Δ θ21With Δ θ32The angle that respectively aerial array for the first time and second rotates.
The unique solution of three-dimensional direction of arrival is then obtained by above-mentioned equation group：
Above formula shows that the symbol of Vertical Square parallactic angle τ cannot be determined by difference MUSIC algorithm.However, due to signal source
(such as wireless apss etc.) are typically deployed at indoor ceiling to obtain compared with large coverage, and Vertical Square parallactic angle τ tends to non-negative, thus
Above-mentioned ambiguousness is determined on direction of arrival in general not to be affected.
Antenna array signals processing method provided in an embodiment of the present invention, it is desirable to which the double equipment in rotary moving of user is simultaneously
Absolute DOA estimate is converted to relative DOA estimate by the phase contrast of the signal of antenna array receiver before and after measurement rotation,
The method has two advantages：First, because the unknown phase deviation of every antenna is constant in array, before and after calculating rotation
Signal phase difference can eliminate phase deviation；Second, because signal residual quantity does not include phase deviation, its equivalent direction of arrival can pass through
MUSIC scheduling algorithms estimate that further, direction of arrival has space geometry relation with horizontal azimuth and Vertical Square parallactic angle, utilizes
The relation of the space geometry relation and equivalent direction of arrival and relative direction of arrival, you can calculate the direction of arrival before and after rotation.Whole
Individual process user only needs to double equipment in rotary moving and can achieve accurate direction of arrival calculating, it is achieved that minimal user is grasped
The three-dimensional DOA estimate of work.
Referring to Fig. 8, the present embodiment discloses a kind of antenna array signals processing method, including：
S30, the phase contrast for calculating the ofdm signal received before and after aerial array is rotated for the first time and second respectively；
S31, according to the equivalent direction of arrival of the phase difference calculating；
S32, calculated according to the equivalent direction of arrival before and after the aerial array is rotated for the first time and second and receive
Ofdm signal three-dimensional direction of arrival, wherein, the three-dimensional direction of arrival includes horizontal azimuth and Vertical Square parallactic angle；
S33, phase alignment is carried out to the aerial array using the three-dimensional direction of arrival；
S34, using phase alignment after aerial array carry out signal DOA estimate.
Indoor multipath effect is serious, and signal typically arrives at receiver through mulitpath.The signal that receiver is received is many
Footpath Signal averaging.Therefore, superposed signal phase place no longer has the structure of above-mentioned single-pathway phase place, so as to have a strong impact on difference
The measurement effect of MUSIC algorithms.In extreme circumstances, difference MUSIC algorithm cannot be estimated to direction of arrival.
In order to overcome above-mentioned situation, the present invention to estimate the direction of arrival of multipath signal using MUSIC algorithms.However,
As it was previously stated, being affected by unknown phase deviation, commercial wireless apparatus cannot carry out DOA estimate using MUSIC algorithms.
Therefore, the present invention is calibrated to aerial array using prior art Phaser, eliminates unknown phase deviation, and after utilizing calibration
Array carry out DOA estimate.Phaser requires the relative position of transmitter and receiver as calibration input, by search
Phase deviation space is to find so that being composed and according to equipment relative position by the actual puppet that MUSIC algorithms are exported after eliminating the deviation
The theory puppet for obtaining composes most close phase deviation.Phaser cannot be applied to the mobile device calibration of Location-Unknown.Difference
MUSIC algorithms can provide relative position input for Phaser, to allow Phaser to carry out phase alignment to mobile device.This
Bright require user calibration when be located at transmitter near los path in the range of, slewing with utilize difference MUSIC algorithm
Estimate direction of arrival.In the case, los path signal intensity is far above obstructed path signal intensity, and multipath effect is weaker,
Difference MUSIC algorithm can obtain accurate DOA estimate, and as Phaser input in order to calibration arrays.Pass through
Said method, user are not required to extra measuring apparatus unknown phase deviation.As unknown phase deviation is protected after the startup of every secondary device
Hold constant, above-mentioned phase alignment be operated between every secondary device starting period only need to execute once.
Antenna array signals processing method provided in an embodiment of the present invention, because carrying out to the mobile device of Location-Unknown
Calibration, therefore double first equipment in rotary moving is to calculate three-dimensional direction of arrival, replaces transmitter with three-dimensional direction of arrival afterwards
With the relative position of receiver, phase alignment is carried out to aerial array with this, the aerial array after calibration can eliminate unknown phase
Position deviation, estimates direction of arrival using traditional DOA estimate algorithm afterwards, and in order to apply in multi-path environment, the present invention will
User is asked to be located in calibration in the range of the los path near transmitter, slewing is estimating direction of arrival.In the case,
Los path signal intensity is far above obstructed path signal intensity, and multipath effect is weaker, can obtain accurate direction of arrival and estimate
Meter such that it is able to realize aerial array accurate phase calibration, using calibration after aerial array i.e. can achieve multi-path environment under
The accurate estimation of direction of arrival.Whole process user only needs to double equipment in rotary moving, and executes reality by primary calibration
Under existing multi-path environment, accurately direction of arrival is calculated, it is achieved that the DOA estimate of minimal user operation, and is reached using three-dimensional wave
The relative position of transmitter and receiver is replaced at angle, so as to know the relative position of equipment.
Referring to Fig. 9, the present embodiment discloses a kind of antenna array signals processing meanss, including：
First computing unit 10, for calculating the OFDM received before and after aerial array is rotated for the first time and second respectively
The phase contrast of signal, and the anglec of rotation of the first time and second rotation is measured using inertial sensor；
Second computing unit 11, for according to the equivalent direction of arrival of the phase difference calculating；
3rd computing unit 12, for calculating the aerial array according to the equivalent direction of arrival and the anglec of rotation
Two dimension of the ofdm signal received before and after once and second rotation in the plane of sense and the aerial array
Direction of arrival.
Antenna array signals processing meanss provided in an embodiment of the present invention, it is desirable to which the double equipment in rotary moving of user is simultaneously
Absolute DOA estimate is converted to relative DOA estimate by the phase contrast of the signal of antenna array receiver before and after measurement rotation,
There are two advantages：First, because the unknown phase deviation of every antenna is constant in array, calculate the signal before and after rotation
Phase contrast can eliminate phase deviation；Second, because signal residual quantity does not include phase deviation, its equivalent direction of arrival can pass through
MUSIC scheduling algorithms estimate that further, equivalent direction of arrival is relevant with array rotation angle, obtain equipment rotation using inertial sensor
Gyration, you can calculate the direction of arrival before and after rotation.Whole process user only needs to double equipment in rotary moving
Realize that accurate direction of arrival is calculated, it is achieved that the DOA estimate of minimal user operation.
Referring to Figure 10, the present embodiment discloses a kind of antenna array signals processing meanss, including：
4th computing unit 20, for calculating the OFDM received before and after aerial array is rotated for the first time and second respectively
The phase contrast of signal；
5th computing unit 21, for according to the equivalent direction of arrival of the phase difference calculating；
6th computing unit 22, for calculating the aerial array in first time and second according to the equivalent direction of arrival
The three-dimensional direction of arrival of the ofdm signal received before and after secondary rotation, wherein, the three-dimensional direction of arrival includes horizontal azimuth and vertically
Azimuth.
Antenna array signals processing meanss provided in an embodiment of the present invention, it is desirable to which the double equipment in rotary moving of user is simultaneously
Absolute DOA estimate is converted to relative DOA estimate by the phase contrast of the signal of antenna array receiver before and after measurement rotation,
There are two advantages：First, because the unknown phase deviation of every antenna is constant in array, calculate the signal before and after rotation
Phase contrast can eliminate phase deviation；Second, because signal residual quantity does not include phase deviation, its equivalent direction of arrival can pass through
MUSIC scheduling algorithms estimate that further, direction of arrival has space geometry relation with horizontal azimuth and Vertical Square parallactic angle, utilizes
The relation of the space geometry relation and equivalent direction of arrival and relative direction of arrival, you can calculate the direction of arrival before and after rotation.Whole
Individual process user only needs to double equipment in rotary moving and can achieve accurate direction of arrival calculating, it is achieved that minimal user is grasped
The three-dimensional DOA estimate of work.
Referring to Figure 11, the present embodiment discloses a kind of antenna array signals processing meanss, including：
7th computing unit 30, for calculating the OFDM received before and after aerial array is rotated for the first time and second respectively
The phase contrast of signal；
8th computing unit 31, for according to the equivalent direction of arrival of the phase difference calculating；
9th computing unit 32, for calculating the aerial array in first time and second according to the equivalent direction of arrival
The three-dimensional direction of arrival of the ofdm signal received before and after secondary rotation, wherein, the three-dimensional direction of arrival includes horizontal azimuth and vertically
Azimuth；
Alignment unit 33, for carrying out phase alignment using the three-dimensional direction of arrival to the aerial array；
In the present embodiment, the alignment unit specifically can be used for：
Using the three-dimensional direction of arrival as the input of Phaser, line phase is entered to the aerial array using the Phaser
Calibration.
Estimation unit 34, carries out signal DOA estimate for the aerial array after using phase alignment.
Antenna array signals processing meanss provided in an embodiment of the present invention, because carrying out to the mobile device of Location-Unknown
Calibration, therefore double first equipment in rotary moving is to calculate three-dimensional direction of arrival, replaces transmitter with three-dimensional direction of arrival afterwards
With the relative position of receiver, phase alignment is carried out to aerial array with this, the aerial array after calibration can eliminate unknown phase
Position deviation, estimates direction of arrival using traditional DOA estimate algorithm afterwards, and in order to apply in multi-path environment, the present invention will
User is asked to be located in calibration in the range of the los path near transmitter, slewing is estimating direction of arrival.In the case,
Los path signal intensity is far above obstructed path signal intensity, and multipath effect is weaker, can obtain accurate direction of arrival and estimate
Meter such that it is able to realize aerial array accurate phase calibration, using calibration after aerial array i.e. can achieve multi-path environment under
The accurate estimation of direction of arrival.Whole process user only needs to double equipment in rotary moving, and executes reality by primary calibration
Under existing multi-path environment, accurately direction of arrival is calculated, it is achieved that the DOA estimate of minimal user operation, and is reached using three-dimensional wave
The relative position of transmitter and receiver is replaced at angle, so as to know the relative position of equipment.
The present invention proposes difference MUSIC algorithm, to overcome the unknown phase deviation of business equipment.The algorithm requires user's rotation
Turn mobile device and measure the phase information of aerial array before and after rotation, and the anglec of rotation is measured by inertial sensor.In order to
Unique direction of arrival is solved, difference MUSIC algorithm requires that user carries out double rotation, this is the minimum behaviour that user needs to carry out
Make.In order to estimate three-dimensional direction of arrival, i.e. horizontal azimuth and Vertical Square parallactic angle, when difference MUSIC algorithm is rotated using equipment
Space geometry relation is set up constraint and is solved.In order to overcome indoor multipath to disturb, the present invention is based on difference MUSIC algorithm to setting
Standby carry out automatic phase calibration, and using calibration after array carry out DOA estimate.Because calibration operation need to only be carried out once,
User is not needed to carry out the operation of complexity, while ensure that the accuracy of DOA estimate.
Those skilled in the art are it should be appreciated that embodiments herein can be provided as method, system or computer program
Product.Therefore, the application can adopt complete hardware embodiment, complete software embodiment or with reference to software and hardware in terms of reality
Apply the form of example.And, the application can be adopted in one or more computers for wherein including computer usable program code
The upper computer program that implements of usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.) is produced
The form of product.
The application is flow process of the reference according to the method, equipment (system) and computer program of the embodiment of the present application
Figure and/or block diagram are describing.It should be understood that can be by computer program instructions flowchart and/or each stream in block diagram
Journey and/or the combination of square frame and flow chart and/or the flow process in block diagram and/or square frame.These computer programs can be provided
Instruct the processor of general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that produced for reality by the instruction of computer or the computing device of other programmable data processing devices
The device of the function of specifying in present one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or multiple square frames.
These computer program instructions may be alternatively stored in and can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory is produced to be included referring to
Make the manufacture of device, the command device realize in one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or
The function of specifying in multiple square frames.
These computer program instructions can be also loaded in computer or other programmable data processing devices so that in meter
Series of operation steps is executed on calculation machine or other programmable devices to produce computer implemented process, so as in computer or
The instruction executed on other programmable devices is provided for realization in one flow process of flow chart or multiple flow processs and/or block diagram one
The step of function of specifying in individual square frame or multiple square frames.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation are made a distinction with another entity or operation, and are not necessarily required or implied these entities or deposit between operating
In any this actual relation or order.And, term " including ", "comprising" or its any other variant are intended to
Nonexcludability includes, so that a series of process, method, article or equipment including key elements not only includes that those will
Element, but also other key elements including being not expressly set out, or also include for this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element for being limited by sentence "including a ...", it is not excluded that
Also there is other identical element in process, method, article or equipment including the key element.Term " on ", D score etc. refers to
The orientation or position relationship for showing is based on orientation shown in the drawings or position relationship, is for only for ease of the description present invention and simplifies
Description, rather than indicate or imply that the device or element of indication must be with specific orientation, with specific azimuth configuration and behaviour
Make, be therefore not considered as limiting the invention.Unless otherwise clearly defined and limited, term " installation ", " being connected ",
" connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can be
It is mechanically connected, or electrically connects；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be two
The connection of element internal.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be
Concrete meaning in invention.
In the description of the present invention, a large amount of details are illustrated.Although it is understood that, embodiments of the invention can
To put into practice in the case where there is no these details.In some instances, known method, structure and skill are not been shown in detail
Art, so as not to obscure the understanding of this description.Similarly, it will be appreciated that disclose and help understand respectively to simplify the present invention
One or more in individual inventive aspect, in description above to the exemplary embodiment of the present invention, each of the present invention is special
Levy.However, should not be by the method solution of the disclosure
Release be intended to following in reflection：The i.e. feature is expressly recited in each claim by the present invention for required protection requirement ratio is more
Many features.More precisely, as the following claims reflect, inventive aspect is less than single reality disclosed above
Apply all features of example.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in the specific embodiment,
Wherein each claim itself is used as separate embodiments of the invention.It should be noted that in the case where not conflicting, this
The feature in embodiment and embodiment in application can be mutually combined.Any single aspect is the invention is not limited in,
Be not limited to any single embodiment, in terms of being also not limited to these and/or embodiment combination in any and/or displacement.And
And, in terms of can be used alone each of the present invention and/or embodiment or with one or more in terms of other and/or which is implemented
Example is used in combination.
Finally it should be noted that：Various embodiments above only in order to technical scheme to be described, rather than a limitation；To the greatest extent
Pipe has been described in detail to the present invention with reference to foregoing embodiments, it will be understood by those within the art that：Its according to
So the technical scheme described in foregoing embodiments can be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme, its all should cover in the middle of the scope of the claim and description of the present invention.
Claims (10)
1. a kind of antenna array signals processing method, it is characterised in that include：
S10, the phase contrast for calculating the ofdm signal received before and after aerial array is rotated for the first time and second respectively, and utilize
Inertial sensor measures the anglec of rotation of the first time and second rotation；
S11, according to the equivalent direction of arrival of the phase difference calculating；
S12, the aerial array is calculated according to the equivalent direction of arrival and the anglec of rotation before for the first time and second rotates
Two-dimentional direction of arrival of the ofdm signal for receiving afterwards in the plane of sense and the aerial array.
2. method according to claim 1, it is characterised in that the S12, including：
The OFDM that the aerial array is received before and after first time rotates is calculated according to the equivalent direction of arrival and the anglec of rotation
Two groups of solutions of two-dimentional direction of arrival of the signal in the plane of sense and the aerial array, and the aerial array
Two-dimentional ripple of the ofdm signal received before and after rotating at second in the plane of sense and the aerial array reaches
Two groups of solutions at angle；
Ofdm signal that aerial array described in four groups of solutions received after first time rotates is chosen in sense and described
The ofdm signal that two-dimentional direction of arrival in the plane of aerial array is received before second rotates with the aerial array exists
Two groups of solutions of the two-dimentional direction of arrival gap minimum in the plane of sense and the aerial array, from two groups of solutions really
The ofdm signal received before and after the aerial array rotates is made for the first time and second in sense and the antenna array
Two-dimentional direction of arrival in the plane of row.
3. a kind of antenna array signals processing method, it is characterised in that include：
S20, the phase contrast for calculating the ofdm signal received before and after aerial array is rotated for the first time and second respectively；
S21, according to the equivalent direction of arrival of the phase difference calculating；
S22, calculated according to the equivalent direction of arrival and receive before and after the aerial array is rotated for the first time and second
The three-dimensional direction of arrival of ofdm signal, wherein, the three-dimensional direction of arrival includes horizontal azimuth and Vertical Square parallactic angle.
4. a kind of antenna array signals processing method, it is characterised in that include：
S30, the phase contrast for calculating the ofdm signal received before and after aerial array is rotated for the first time and second respectively；
S31, according to the equivalent direction of arrival of the phase difference calculating；
S32, calculated according to the equivalent direction of arrival and receive before and after the aerial array is rotated for the first time and second
The three-dimensional direction of arrival of ofdm signal, wherein, the three-dimensional direction of arrival includes horizontal azimuth and Vertical Square parallactic angle；
S33, phase alignment is carried out to the aerial array using the three-dimensional direction of arrival；
S34, using phase alignment after aerial array carry out signal DOA estimate.
5. method according to claim 4, it is characterised in that the S33, including：
Using the three-dimensional direction of arrival as the input of Phaser, line phase school is entered to the aerial array using the Phaser
Accurate.
6. a kind of antenna array signals processing meanss, it is characterised in that include：
First computing unit, for calculating the ofdm signal received before and after aerial array is rotated for the first time and second respectively
Phase contrast, and the anglec of rotation of the first time and second rotation is measured using inertial sensor；
Second computing unit, for according to the equivalent direction of arrival of the phase difference calculating；
3rd computing unit, for calculating the aerial array for the first time according to the equivalent direction of arrival and the anglec of rotation and
Two-dimentional direction of arrival of the ofdm signal received before and after rotating for second in the plane of sense and the aerial array.
7. device according to claim 6, it is characterised in that the 3rd computing unit, specifically for：
The OFDM that the aerial array is received before and after first time rotates is calculated according to the equivalent direction of arrival and the anglec of rotation
Two groups of solutions of two-dimentional direction of arrival of the signal in the plane of sense and the aerial array, and the aerial array
Two-dimentional ripple of the ofdm signal received before and after rotating at second in the plane of sense and the aerial array reaches
Two groups of solutions at angle；
Ofdm signal that aerial array described in four groups of solutions received after first time rotates is chosen in sense and described
The ofdm signal that two-dimentional direction of arrival in the plane of aerial array is received before second rotates with the aerial array exists
Two groups of solutions of the two-dimentional direction of arrival gap minimum in the plane of sense and the aerial array, from two groups of solutions really
The ofdm signal received before and after the aerial array rotates is made for the first time and second in sense and the antenna array
Two-dimentional direction of arrival in the plane of row.
8. a kind of antenna array signals processing meanss, it is characterised in that include：
4th computing unit, for calculating the ofdm signal received before and after aerial array is rotated for the first time and second respectively
Phase contrast；
5th computing unit, for according to the equivalent direction of arrival of the phase difference calculating；
6th computing unit, rotates for the first time and second for calculating the aerial array according to the equivalent direction of arrival
The three-dimensional direction of arrival of the ofdm signal for receiving in front and back, wherein, the three-dimensional direction of arrival includes horizontal azimuth and Vertical Square parallactic angle.
9. a kind of antenna array signals processing meanss, it is characterised in that include：
7th computing unit, for calculating the ofdm signal received before and after aerial array is rotated for the first time and second respectively
Phase contrast；
8th computing unit, for according to the equivalent direction of arrival of the phase difference calculating；
9th computing unit, rotates for the first time and second for calculating the aerial array according to the equivalent direction of arrival
The three-dimensional direction of arrival of the ofdm signal for receiving in front and back, wherein, the three-dimensional direction of arrival includes horizontal azimuth and Vertical Square parallactic angle；
Alignment unit, for carrying out phase alignment using the three-dimensional direction of arrival to the aerial array；
Estimation unit, carries out signal DOA estimate for the aerial array after using phase alignment.
10. device according to claim 9, it is characterised in that the alignment unit, specifically for：
Using the three-dimensional direction of arrival as the input of Phaser, line phase school is entered to the aerial array using the Phaser
Accurate.
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| CN109341679A (en) * | 2018-09-30 | 2019-02-15 | 华中科技大学 | A kind of smart machine air navigation aid and navigation system |
| CN113301602A (en) * | 2021-05-13 | 2021-08-24 | 深圳市云之声科技有限公司 | High-performance 5G intelligent gateway |
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| CN109341679A (en) * | 2018-09-30 | 2019-02-15 | 华中科技大学 | A kind of smart machine air navigation aid and navigation system |
| CN113301602A (en) * | 2021-05-13 | 2021-08-24 | 深圳市云之声科技有限公司 | High-performance 5G intelligent gateway |
| CN113301602B (en) * | 2021-05-13 | 2022-02-08 | 深圳市云之声科技有限公司 | 5G intelligent gateway |
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