CN110133635A - A kind of method of cooperation MIMO radar and communication system calculating target positioning and mutual information - Google Patents

A kind of method of cooperation MIMO radar and communication system calculating target positioning and mutual information Download PDF

Info

Publication number
CN110133635A
CN110133635A CN201910265172.4A CN201910265172A CN110133635A CN 110133635 A CN110133635 A CN 110133635A CN 201910265172 A CN201910265172 A CN 201910265172A CN 110133635 A CN110133635 A CN 110133635A
Authority
CN
China
Prior art keywords
radar
communication
signal
target
time delay
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910265172.4A
Other languages
Chinese (zh)
Inventor
王珍
何茜
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Electronic Science and Technology of China
Original Assignee
University of Electronic Science and Technology of China
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of Electronic Science and Technology of China filed Critical University of Electronic Science and Technology of China
Priority to CN201910265172.4A priority Critical patent/CN110133635A/en
Publication of CN110133635A publication Critical patent/CN110133635A/en
Pending legal-status Critical Current

Links

Classifications

    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/414—Discriminating targets with respect to background clutter
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
    • H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
    • H04B7/0413—MIMO systems
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S2013/0236—Special technical features
    • G01S2013/0245—Radar with phased array antenna
    • G01S2013/0254—Active array antenna

Abstract

The invention discloses a kind of methods that cooperation MIMO radar and communication system calculate target positioning and mutual information, in radar-communication integration technical field, it in particular to be averaged the calculating of Cramér-Rao lower bound (ECRB) and communication mutual information (MI) about radar parameter estimation performance in radar-communication integration.The radar fix ECRB and communication mutual information MI that calculation method obtains through the invention, can be used to assess the performance of cooperation MIMO radar and MIMO communication integrated system.Since this method is the mode based on cooperation, radar system and communication system can be utilized mutually, promote the performance of radar and communication system entirety, and method assumes that radar system only knows the statistical property of signal of communication, be more in line with actual scene.

Description

A kind of method of cooperation MIMO radar and communication system calculating target positioning and mutual information
Technical field
The invention belongs to radar-communication integration technical fields, it in particular to joins about radar in radar-communication integration Number estimation performances be averaged Cramér-Rao lower bound (ECRB) and communication mutual information (MI) calculating.
Background technique
With the development of new technology, either in civil field or military domain, radar-communication integration all becomes one A inevitable trend, such as intelligent transportation system and unmanned fighter etc..Therefore, research radar communication symbiotic system has weight Want meaning.
In most of radar-communication integration system, radar system and communication system be all the signal that will mutually emit as Interference the modes such as eliminates by the interference of the Waveform Design of transmitting terminal or receiving end and eliminates interference.However, the radar coexisted is logical Letter integral system can use mutual signal and carry out improving performance.Document 1 (M.Bica, K.W.Huang, U.Mitra, and V.Koivunen, “Opportunistic radar waveform design in joint radar and cellular communication systems,”in Proceedings of the 2015 IEEE Global Communications Conference (GLOBECOM), Dec 2015, pp.1-7) and (the M.Bica and of document 2 V.Koivunen,“Delay estimation method for coexisting radar and wireless communication systems,”in Proceedings of the 2017 IEEE Radar Conference (RadarConf), 2017 May, pp.1557-1561) in, consider respectively single antenna radar system using signal of communication come It promotes target detection and time delay estimates performance.Document 3 (Q.He, Z.Wang, J.Hu, and R.S. Blum, " Performance gains from cooperative MIMO radar and MIMO communication systems,”IEEE Signal Processing Letters, Jan 2019, pp.194-198) in, while conjunction is promoted using radar signal and signal of communication Make the performance of radar-communication integration system.
To the radar-communication integration system coexisted, radar system can handle signal of communication using two ways, and one Be radar system can correct decoding communication signal, another way be signal of communication statistical property and radar system it is total It enjoys.Document 3 has studied the case where radar receiver can be with correct decoding signal of communication, and radar system is believed using the communication of decoding Number parameter Estimation performance can be improved.Therefore, in MIMO radar and MIMO communication integrated system, consider that radar system is known The case where road signal of communication statistical property be very it is necessary to.
Summary of the invention
The present invention for insufficient the technical issues of solving of background technique be obtain a kind of consideration radar system just know that it is logical Cooperation MIMO radar and MIMO communication system Calculation Methods for Performance when letter signal statistics, calculate radar target positioning Average Cramér-Rao lower bound (ECRB) and communication system mutual information (MI).
The technical scheme is that a kind of cooperation MIMO radar and communication system calculate the side of target positioning and mutual information Method, this method comprises:
Step 1: in MIMO radar system receiving end, by NRThe signal that a receiver receives is expressed as vector form rR
Wherein,
rR,n=(rR,n[1],...,rR,n[K])T,
URt,n=Diag { uRt,n(1),...,uRt,n(K) }, UR,n=Diag { uR,n(1),...,uR,n(K) },
UCt,n=Diag { uCt,n(1),...,uCt,n(K) }, UC,n=Diag { uC,n(1),...,uC,n(K)}
sRt,n=[sRt,n(1)T,...,sRt,n(K)T]T, sR,n=[sR,n(1)T,...,sR,n(K)T]T,
sCt,n=[sCt,n(1)T,...,sCt,n(K)T]T, sC,n=[sC,n(1)T,...,sC,n(K)T]T,
URtsRtIndicate the radar echo signal reflected through target, URsRFor the letter of the through radar receiving end in radar emission end Number, UCtsCtIndicate the communication echo-signal reflected through target, UCsCIt is the signal for communicating the through radar receiving end of transmitting terminal, wR For the clutter and noise of radar receiving end；MRAnd NRThe respectively transmitter and receiver number of radar system, MCFor communication system System transmitter number, each transmitting-receiving station are single antenna configurations,For the transmitting signal power of m-th of radar transmitter,For the transmitting signal power of a communication transmitter of m ', sR, m(kTs) and sC, m '(kTs) it is respectively m-th of radar emission Machine and a communication transmitter of m ' are in kTsThe transmitting signal at moment,K is sampling sequence number wherein k=1 ..., K,K is sample point Number, TsFor sampling interval, τRt, nmAnd ζRt, nmIt respectively represents m-th of radar emission signal and reaches n-th of radar after target reflects The time delay and target reflection factor of receiver, τR, nmIt goes directly the time delay of n-th of radar receiver for m-th radar emission signal, τCt, nm 'With ζCt, nm 'Respectively m ' it is a communication transmitting signal reached after target reflects n-th of radar receiver time delay and Target reflection factor, τC, nm 'For the time delay of a through n-th of radar receiver of communication transmitting signal of m ', wR, n[k] indicates n-th The clutter and noise of a radar receiver, and assume noise vector wRObedience zero-mean covariance matrix is QRMultiple Gauss it is random Distribution；
Step 2: definition transmitting signal of communication vector is
According to the following formula
The condition estimated values theta of θ when acquiring given communication transmitting signal phasor sR, ML|s；Wherein, θ is target position x to be estimated, Y is expressed as θ=[x, y]T；Indicate QRInvert；
Step 3: defining intermediate variable is
Obtain matrixWherein, τRt, nmIndicate m-th of radar transmitter and n-th radar receiver Time delay, wherein n=1 ..., NR, m=1 ..., MR；τCt, nm 'Indicate a communication transmitter of m ' and n radar receiver when Prolong, wherein m '=1 ..., MC；F and G respectively indicates radar transmitter and radar receiver time delayWith Communication transmitter and radar receiver time delayTo target position x, the derivative of y；
Step 4: calculating matrixI-th j element of matrix are as follows:
Wherein,To take real part,Local derviation is sought in expression,Indicate vectorI-th of element；
Step 5: according to formula
It calculates Fisher's information matrix J (θ),To seek gradient operation, can obtain condition Cramér-Rao lower bound is
CRB (θ | s)=J (θ)-1,
Can must finally be averaged Cramér-Rao lower bound are as follows:
Wherein,Indicate mathematic expectaion, the diagonal element of average Cramér-Rao lower bound is respectively target position x, and y's is flat Equal carat Metro lower bound；
Step 6: calculate the performance metric average root carat Metro lower bound of radar system:
Wherein, ECRB (θ | s)1,1With ECRB (θ | s)2,2Respectively the first of ECRB diagonal element and second diagonal element Element；
Step 7: in MIMO communication system receiving end, by NCThe signal that a communication control processor receives is expressed as vector form rC
Wherein, rC, n '=(rC, n '(1) ..., rC, n '(K))T,
wC, n '=[wC, n '(1) ..., wC, n '(K)]T,
Indicate the communication echo-signal reflected through target,For the letter for communicating transmitting terminal direct communication receiving end Number,Indicate the radar echo signal reflected through target,It is the signal of radar emission end direct communication receiving end, wCFor the clutter noise of communication receiver；NCFor communication system receiver number, each receiving station is single antenna configuration,And ζCt, n ' m 'Respectively represent m ' it is a communication transmitting signal reached after target reflects the n-th ' a communication control processor when Prolong and target reflection factor,Emit the time delay of the through the n-th ' a communication control processor of signal for a communication of m ',WithRespectively m-th of radar emission signal reaches the time delay and target reflection of the n-th ' a communication control processor after target reflects Coefficient,For the time delay of the through the n-th ' a communication control processor of m-th of radar emission signal, wC, n '[k] indicates the n-th ' a communication The clutter and noise of receiver, and assume vector wCObedience zero-mean covariance matrix is QCMultiple Gauss random distribution；
Step 8: according to the following formula
Acquire the condition estimated value of communication ends θ；
Step 9: utilizing obtained θ estimated value calculation delayWithIts result is approximately
nCt, n ' m ', nRt, n ' mFor the evaluated error of Gaussian distributed；It utilizesObtain the echo-signal of communication ends radarEstimated valueIt is available according to shared radar signal and location information
Step 10: eliminating the signal that radar signal receives the communication control processor after communication system interference are as follows:
Wherein,Indicate the residual error after interference is eliminated,
Indicate sR, m(t) to t derivation, sR, m(t) radar emission signal s is indicatedR, m(kTs) company Continuous temporal expressions form；
Step 11: the mutual information of calculus communication system
Wherein I is unit matrix, Mathematic expectaion is sought in expression.
The radar fix ECRB and communication mutual information MI being calculated using step as above, can be used to assess cooperation MIMO The performance of radar and MIMO communication integrated system.Since this method is the mode based on cooperation, radar system and communication System can be utilized mutually, promote the performance of radar and communication system entirety, and method assumes that radar system only knows communication The statistical property of signal, is more in line with actual scene.
Detailed description of the invention
Fig. 1 is the radar fix RECRB schematic diagram that MIMO radar and MIMO communication system coexist at different SCNR.
Fig. 2 is the communication mutual information MI schematic diagram that MIMO radar and MIMO communication system coexist at different SCNR.
Specific embodiment
For the convenience of description, such as being given a definition first:
()TIndicate transposition, ()HFor conjugate transposition,It is to take real part, Diag { } indicates block diagonal line,Indicate ladder Degree operation,It is to seek mathematic expectaion, H () is difference entropy.
In the system that MIMO radar and MIMO communication coexist, radar transceiver and communication transceiver are all that single antenna is matched It sets, there is MRA radar and MCA communication transmitter, NRA radar and NCA communication control processor.M (m=1 ..., MR) a radar hair It penetrates machine and is located at two-dimensional Cartesian systemN-th (n=1 ..., NR) a radar receiver is located atM'(m'=1 ..., Mc) a communication transmitter is located at
N-th ' (n'=1 ..., NC) a communication control processor is located at With Respectively m-th of radar transmitter and the m' communication transmitter are in kTsMoment emits the sampled value of signal, wherein ER,mWith EC,m'To emit signal power, k (k=1 ..., K) is sampling sequence number, TsFor the sampling interval.
So n-th of radar receiver is in kT to radar systemsThe signal that moment receives is
Wherein, first four are respectively the radar echo signal reflected through target, the through radar receiving end in radar emission end Signal, the communication echo-signal reflected through target, the signal of the through radar receiving end of communication transmitting terminal, last is radar The clutter and noise of receiving end, τRt, nm, τR, nm, τCt, nm ', τC, nm 'Indicate the time delay of respective paths, ζRt, nm, ζCt, nm 'Indicate phase Answer the target reflection factor in path.
Definition emits signal of communication vector
Defining parameter vector to be estimated is
θ=[x, y]T (5)
The signal phasor that radar receiver receives is
Wherein
rR, n=(rR, n[1] ..., rR, n[K])T (7)
URt, n=Diag { uRt, n(1) ..., uRt, n(K)} (9)
wR, n=[wR, n(1) ..., wR, n(K)]T (16)
Assuming that noise wRObedience zero-mean covariance matrix is QRMultiple Gauss random distribution.UR, sR, UCt, sCt, UC, sC's Definition mode and URtAnd sRtDefinition mode it is similar.
Similarly, to communication system, in kTsThe signal that a communication control processor of moment the n-th ' receives is
Wherein, first four are respectively the communication echo-signal reflected through target, communication transmitting terminal direct communication receiving end Signal, the radar echo signal reflected through target, the signal of radar emission end direct communication receiving end, wC, n '[k] indicates clutter And noise,Respectively represent the time delay of respective paths, ζCt, n ' m ', ζRt, n ' mRespectively indicate corresponding road The target reflection factor of diameter.
Then the reception signal phasor of communication receiver is
Wherein
rC, n '=(rC, n '(1) ..., rC, n '(K))T (19)
wC, n '=[wC, n '(1) ..., wC, n '(K)]T (28)
Assuming that noise wCIt is Q for zero-mean covariance matrixCMultiple Gauss random distribution.Similar mode can be used to define
The present invention calculates cooperation MIMO thunder when radar system just knows that signal of communication statistical property using following steps Mutual information MI is communicated up to ECRB and MIMO:
Step 1 obtains the reception signal r of radar system according to signal model (6)R,
rR=URtsRt+URsR+UCtsCt+UCsC+wR (29)
Step 2 is according to the following formula
The condition estimated values theta of θ when acquiring given sR, ML|s
Step 3 calculating matrixWherein
Step 6 definition vector
Calculating matrixIts i-th j element be
Step 7 is according to formula
J (θ) is calculated, can be obtained
CRB (θ | s)=J (θ)-1 (36)
Can must finally be averaged CRB are as follows:
Wherein,Indicate mathematic expectaion, the diagonal element of ECRB is respectively target position x, under the average carat Metro of y Boundary.
The performance metric average root carat Metro lower bound (RECRB) of step 8 calculating radar system
Wherein, ECRB (θ | s)1,1With ECRB (θ | s)2,2Respectively the first of ECRB diagonal element and second diagonal element Element；
Step 9 obtains receiving signal r according to the signal model (18) of communication systemC,
Step 10 is according to the following formula
Acquire the condition estimated value of communication ends θ；
Step 11 utilizes the estimated value calculation delay of θWithObtained result is approximately
Wherein nCt, n ' m ', nRt, n ' mFor the evaluated error of Gaussian distributed.It utilizesAvailable communication ends radar Echo-signalEstimated valueAccording to the shared available through radar signal of radar signal and location information
Step 12 eliminates interference of the radar signal to communication system, that is,
Wherein
Indicate sR, m(t) to t derivation.
The mutual information of step 13 calculus communication system
Wherein I is unit matrix,
The working principle of the invention
In the MIMO radar and MIMO communication system of cooperation, radar emission signal is fixed, it is assumed that radar system Transmitting signal and aerial position share to communication system, and the transmitting signal statistics and aerial position of communication system share to Radar system.Therefore, it can use radar echo signal at radar receiver and communication echo-signal position target Analysis can estimate the location parameter of target in a communications system, and then communicate echo-signal and communicate direct-path signal and all may be used To be used to obtain the useful communication information.
According to signal model (6), conditional likelihood of the radar receiving end in given communication transmitting signal s is
It can thus be concluded that its log likelihood function is
Then the condition maximum likelihood about unknown parameter vector θ is estimated as
Following design conditions CRB measures estimation performance.Calculate Fisher's information matrix formula be
It enables
According to chain rule
It calculates first
Its specific element is as shown in above-mentioned steps.
According to document (S.Kay, " Fundamentals of Statistical Signal Processing: Estimation Theory, " Prentice-Hall.Englewood Cli_s, NJ, 1993.), can obtain
J (θ) finally can be obtained.
Assuming that the communication in communication system emits signal Gaussian distributed, i.e. transmitting signal uses Gauss code book.According to The conditional likelihood that signal model (18) can obtain communication receiver is
Its log likelihood function, which can further be obtained, is
Then it is estimated as about unknown parameter vector θ condition maximum likelihood
According to the estimated value calculation delay of target positionWith
Utilize time delay estimated valueAvailable communication ends radar echo signalEstimated valueIt utilizes The time delay as caused by destination path in communication ends communication echo-signal can be eliminated, it willIt brings intoExpression formula, can obtainEstimated value, for simplifying the analysis, it is assumed that time delay evaluated error is sufficiently small, then this substitution can be ignored, and can be obtainedThe radar signal that the signal message and location information shared using radar can must go directlyAccording to document (A.R.Chiriyath, B.Paul, G.M.Jacyna, and D.W.Bliss, " Inner bounds on performance Of radar and communications co-existence, " IEEE Transactions on Signal Processing, vol.64, no.2, pp.464- 474, Jan 2016.), there is following approximation
It can be obtained after then eliminating the radar chaff in communications reception signal,
According to signal r 'CThe available communication system of expression formula mutual informationFor
The emulation knot of the radar fix RECRB and communication mutual information MI of MIMO radar and MIMO communication system based on cooperation Fruit such as Fig. 1, shown in 2 figures, wherein simulation parameter is provided that
Assuming that there is MR=2 and MC=2 radars and communication transmitter, NR=3 and NC=3 radars and communication control processor, institute There is dual-mode antenna to be all uniformly placed on the circle from origin 70km.
Assuming that radar emission signal is frequency expansion Gaussian monopulse signal when emulationEnabling pulsewidth is T=0.01, frequency interval fΔ=125Hz.Vacation when emulation IfThe transmitting signal power of i.e. all radars is identical.Clutter and noise wRIt is that covariance matrix isAdditive Gaussian noise.
Communication transmitting signal form when emulation is sC, m '(t)=zCm′(t)pT′(t)ej2πmΔft, wherein zCm′(t) meet certainly Correlation function isThe white Gaussian Profile in space, pT′It (t) is the square of unit amplitude Shape pulse, pulsewidth are T '=0.01, and intercarrier is divided into Δ f=125Hz.Assuming thatI.e. each communication The identical signal of transmission power.Clutter and noise wCIt is that covariance matrix isAdditive Gaussian noise.
Definition partner systems general power is E, and the power ratio of radar system is αE, i.e. MRER=E αE, MCEC=E (1- αE)。 Definition signal-to-noise ratio is SNR=10log10(E/σ2), and enable E=104.Assuming that target is located at (50,30) m.
In Fig. 1, different αERECRB of the RECRB of lower partner systems than non-partner systems is small, illustrates that cooperation can mention The parameter Estimation performance of high Radar Task this is because partner systems consider the main passive MIMO radar of mixing, rather than cooperates field Scape only considers active MIMO radar.Meanwhile with αEIncrease, the performance gain of cooperation reduces, and works as αEPartner systems when=0.6 Almost without performance gain, this is because Active Radar is dominant at this time, and passive radar only knows statistical property.
Fig. 2 is identical as Fig. 1 simulation parameter, and the mutual information MI of partner systems is in different α in figureEUnder be always better than non-cooperation system The MI of system shows the promotion cooperated to communication performance, this is because partner systems consider communication echo-signal, Er Feihe Make system not consider to communicate echo-signal.It can be seen that from Fig. 1 and Fig. 2 through cooperation, the property of radar system and communication system It can obtain performance.

Claims (1)

1. a kind of method that cooperation MIMO radar and communication system calculate target positioning and mutual information, this method comprises:
Step 1: in MIMO radar system receiving end, by NRThe signal that a receiver receives is expressed as vector form rR
Wherein,
rR,n=(rR,n[1],...,rR,n[K])T,
URt,n=Diag { uRt,n(1),...,uRt,n(K) }, UR,n=Diag { uR,n(1),...,uR,n(K) },
UCt,n=Diag { uCt,n(1),...,uCt,n(K) }, UC,n=Diag { uC,n(1),...,uC,n(K)}
sRt,n=[sRt,n(1)T,...,sRt,n(K)T]T, sR,n=[sR,n(1)T,...,sR,n(K)T]T,
sCt,n=[sCt,n(1)T,...,sCt,n(K)T]T, sC,n=[sC,n(1)T,...,sC,n(K)T]T,
wR,n=[wR,n(1),...,wR,n(K)]T,
URtsRtIndicate the radar echo signal reflected through target, URsRFor radar emission end go directly radar receiving end signal, UCtsCtIndicate the communication echo-signal reflected through target, UCsCIt is the signal for communicating the through radar receiving end of transmitting terminal, wRFor thunder Up to the clutter and noise of receiving end；MRAnd NRThe respectively transmitter and receiver number of radar system, MCFor communication system transmitting Machine number, each transmitting-receiving station are single antenna configurations,For the transmitting signal power of m-th of radar transmitter, For the transmitting signal power of the m' communication transmitter, sR,m(kTs) and sC,m'(kTs) it is respectively m-th of radar transmitter and M' communication transmitter is in kTsThe transmitting signal at moment, k are sampling sequence number wherein k=1 ..., K,K is sample points, TsTo adopt Sample interval, τRt,nmAnd ζRt,nmIt respectively represents m-th of radar emission signal and reaches n-th of radar receiver after target reflects Time delay and target reflection factor, τR,nmFor the time delay of through n-th of the radar receiver of m-th of radar emission signal, τCt,nm′With, ζCt,nm′Respectively the m' communication transmitting signal reaches the time delay and target reflection of n-th of radar receiver after target reflects Coefficient, τC,nm′For the time delay of the m' through n-th of radar receiver of communication transmitting signal, wR,n[k] indicates that n-th of radar connects The clutter and noise of receipts machine, and assume noise vector wRObedience zero-mean covariance matrix is QRMultiple Gauss random distribution；
Step 2: definition transmitting signal of communication vector is
According to the following formula
The condition estimated values theta of θ when acquiring given communication transmitting signal phasor sR,ML|s；Wherein, θ is target position x to be estimated, y, table It is shown as θ=[x, y]T；Indicate QRInvert；
Step 3: defining intermediate variable is
Obtain matrixWherein, τRt,nmIndicate the time delay of m-th of radar transmitter and n-th of radar receiver, Wherein n=1 ..., NR, m=1 ..., MR；τCt,nm'Indicate the time delay of the m' communication transmitter and n radar receiver, Middle m'=1 ..., MC；F and G respectively indicates radar transmitter and radar receiver time delayIt is sent out with communication Penetrate machine and radar receiver time delayTo target position x, the derivative of y；
Step 4: calculating matrixI-th j element of matrix are as follows:
Wherein,To take real part,Local derviation, θ are asked in expressioniIndicate i-th of element of vector θ；
Step 5: according to formula
It calculates Fisher's information matrix J (θ),To seek gradient operation, can obtain condition Cramér-Rao lower bound is
CRB (θ | s)=J (θ)-1,
Can must finally be averaged Cramér-Rao lower bound are as follows:
Wherein,Indicate mathematic expectaion, the diagonal element of average Cramér-Rao lower bound is respectively target position x, the average carat of y Metro lower bound；
Step 6: calculate the performance metric average root carat Metro lower bound of radar system:
Wherein, ECRB (θ | s)1,1With ECRB (θ | s)2,2Respectively the first of ECRB diagonal element and second diagonal element；
Step 7: in MIMO communication system receiving end, by NCThe signal that a communication control processor receives is expressed as vector form rC
Wherein, rC,n′=(rC,n′(1),...,rC,n′(K))T,
wC,n′=[wC,n′(1),...,wC,n′(K)]T,
Indicate the communication echo-signal reflected through target,For communicate transmitting terminal direct communication receiving end signal,Indicate the radar echo signal reflected through target,It is the signal of radar emission end direct communication receiving end, wCFor The clutter noise of communication receiver；NCFor communication system receiver number, each receiving station is single antenna configuration,With ζCt,n′m′Respectively represent time delay and target that the m' communication transmitting signal reaches n-th ' a communication control processor after target reflects Reflection coefficient,Emit the time delay of through n-th ' a communication control processor of signal for the m' communication,And ζRt,n′mRespectively The time delay and target reflection factor of n-th ' a communication control processor are reached after target reflects for m-th of radar emission signal, For the time delay of through n-th ' a communication control processor of m-th of radar emission signal, wC,n'[k] indicates the miscellaneous of n-th ' a communication control processor Wave and noise, and assume vector wCObedience zero-mean covariance matrix is QCMultiple Gauss random distribution；
Step 8: according to the following formula
Acquire the condition estimated value of communication ends θ；
Step 9: utilizing obtained θ estimated value calculation delayWithIts result is approximately
nCt,n′m′,nRt,n′mFor the evaluated error of Gaussian distributed；It utilizesObtain the echo-signal of communication ends radar's Estimated valueIt is available according to shared radar signal and location information
Step 10: eliminating the signal that radar signal receives the communication control processor after communication system interference are as follows:
Wherein,Indicate the residual error after interference is eliminated,
Indicate sR,m(t) to t derivation, sR,m(t) radar emission signal s is indicatedR,m(kTs) consecutive hours Between expression-form；
Step 11: the mutual information of calculus communication system
Wherein I is unit matrix, Mathematic expectaion is sought in expression.
CN201910265172.4A 2019-04-03 2019-04-03 A kind of method of cooperation MIMO radar and communication system calculating target positioning and mutual information Pending CN110133635A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910265172.4A CN110133635A (en) 2019-04-03 2019-04-03 A kind of method of cooperation MIMO radar and communication system calculating target positioning and mutual information

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910265172.4A CN110133635A (en) 2019-04-03 2019-04-03 A kind of method of cooperation MIMO radar and communication system calculating target positioning and mutual information

Publications (1)

Publication Number Publication Date
CN110133635A true CN110133635A (en) 2019-08-16

Family

ID=67568990

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910265172.4A Pending CN110133635A (en) 2019-04-03 2019-04-03 A kind of method of cooperation MIMO radar and communication system calculating target positioning and mutual information

Country Status (1)

Country Link
CN (1) CN110133635A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112272064A (en) * 2020-09-29 2021-01-26 电子科技大学 Detection probability and mutual information calculation method of cooperative MIMO radar
CN113189574A (en) * 2021-04-02 2021-07-30 电子科技大学 Cloud MIMO radar target positioning Clarithrome bound calculation method based on quantization time delay
CN113359095A (en) * 2021-04-27 2021-09-07 电子科技大学 Coherent passive MIMO radar Clarithrome boundary calculation method
CN114679205A (en) * 2021-12-30 2022-06-28 电子科技大学长三角研究院(衢州) Joint optimization method of cooperative MIMO radar and communication integrated system
CN115459817A (en) * 2022-07-21 2022-12-09 电子科技大学 Cooperative MIMO radar communication integrated system power distribution method based on non-cooperative game

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8350749B1 (en) * 2009-04-29 2013-01-08 The United States Of America As Represented By The Secretary Of The Air Force Radar signature database validation for automatic target recognition
CN103267963A (en) * 2013-05-07 2013-08-28 西安电子科技大学 Multi-criterion radar emission signal design method based on phase modulation
CN106646410A (en) * 2017-01-06 2017-05-10 天津大学 Learning-perception-decision making-responding method under broadband cognitive passive radar architecture
CN106886011A (en) * 2017-01-19 2017-06-23 电子科技大学 A kind of MIMO radar Cramér-Rao lower bound computational methods for reflecting through wave action
CN107390208A (en) * 2017-06-26 2017-11-24 桂林电子科技大学 A kind of frequency diversity array radar communicating integral method
WO2018158353A1 (en) * 2017-03-03 2018-09-07 Iee International Electronics & Engineering S.A. Method and system for obtaining an adaptive angle-doppler ambiguity function in mimo radars
CN108562883A (en) * 2017-12-29 2018-09-21 南京航空航天大学 A kind of maximum likelihood distance estimating algorithm of overloading wave radar system
CN109507641A (en) * 2018-11-07 2019-03-22 电子科技大学 A kind of MIMO radar and MIMO communication system Calculation Methods for Performance of cooperation

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8350749B1 (en) * 2009-04-29 2013-01-08 The United States Of America As Represented By The Secretary Of The Air Force Radar signature database validation for automatic target recognition
CN103267963A (en) * 2013-05-07 2013-08-28 西安电子科技大学 Multi-criterion radar emission signal design method based on phase modulation
CN106646410A (en) * 2017-01-06 2017-05-10 天津大学 Learning-perception-decision making-responding method under broadband cognitive passive radar architecture
CN106886011A (en) * 2017-01-19 2017-06-23 电子科技大学 A kind of MIMO radar Cramér-Rao lower bound computational methods for reflecting through wave action
WO2018158353A1 (en) * 2017-03-03 2018-09-07 Iee International Electronics & Engineering S.A. Method and system for obtaining an adaptive angle-doppler ambiguity function in mimo radars
CN107390208A (en) * 2017-06-26 2017-11-24 桂林电子科技大学 A kind of frequency diversity array radar communicating integral method
CN108562883A (en) * 2017-12-29 2018-09-21 南京航空航天大学 A kind of maximum likelihood distance estimating algorithm of overloading wave radar system
CN109507641A (en) * 2018-11-07 2019-03-22 电子科技大学 A kind of MIMO radar and MIMO communication system Calculation Methods for Performance of cooperation

Non-Patent Citations (5)

* Cited by examiner, † Cited by third party
Title
NIKOLAUS H.LEHMANN ET AL.: "Evaluation of Transmit Diversity in MIMO-Radar Direction Finding", 《IEEE TRANSACTIONS ONSIGNAL PROCESSING》 *
QIAN HE ET AL.: "Performance Gains From Cooperative MIMO Radar and MIMO Communication Systems", 《IEEE SIGNAL PROCESSING LETTERS》 *
何茜: "MIMO雷达检测与估计理论研究", 《中国博士学位论文全文数据库(电子期刊)信息科技辑》 *
王鞠庭等: "复合高斯杂波中MIMO雷达DOA估计的克拉美-罗下限", 《电子与信息学报》 *
胡建宾: "MIMO雷达联合参数估计性能分析", 《中国优秀硕士学位论文全文数据库（电子期刊）信息科技辑》 *

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112272064A (en) * 2020-09-29 2021-01-26 电子科技大学 Detection probability and mutual information calculation method of cooperative MIMO radar
CN112272064B (en) * 2020-09-29 2021-07-06 电子科技大学 Detection probability and mutual information calculation method of cooperative MIMO radar
CN113189574A (en) * 2021-04-02 2021-07-30 电子科技大学 Cloud MIMO radar target positioning Clarithrome bound calculation method based on quantization time delay
CN113189574B (en) * 2021-04-02 2022-10-11 电子科技大学 Cloud MIMO radar target positioning Clarithrome bound calculation method based on quantization time delay
CN113359095A (en) * 2021-04-27 2021-09-07 电子科技大学 Coherent passive MIMO radar Clarithrome boundary calculation method
CN114679205A (en) * 2021-12-30 2022-06-28 电子科技大学长三角研究院(衢州) Joint optimization method of cooperative MIMO radar and communication integrated system
CN114679205B (en) * 2021-12-30 2023-12-08 电子科技大学长三角研究院(衢州) Combined optimization method of cooperative MIMO radar and communication integrated system
CN115459817A (en) * 2022-07-21 2022-12-09 电子科技大学 Cooperative MIMO radar communication integrated system power distribution method based on non-cooperative game
CN115459817B (en) * 2022-07-21 2023-08-01 电子科技大学 Power distribution method of cooperative MIMO radar communication integrated system based on non-cooperative game

Similar Documents

Publication Publication Date Title
CN110133635A (en) A kind of method of cooperation MIMO radar and communication system calculating target positioning and mutual information
Ma et al. Joint radar-communication strategies for autonomous vehicles: Combining two key automotive technologies
Liu et al. A tutorial on joint radar and communication transmission for vehicular networks—Part I: Background and fundamentals
Elbir et al. The rise of intelligent reflecting surfaces in integrated sensing and communications paradigms
CN109507641B (en) Cooperative MIMO radar and MIMO communication system performance calculation method
CN103760519B (en) High resolution DOA estimation method and system
US8265011B2 (en) High resolution wireless indoor positioning system for legacy standards-based narrowband mobile radios
CN106909779B (en) MIMO radar Cramér-Rao lower bound calculation method based on distributed treatment
CN105068049B (en) A kind of Cramér-Rao lower bound computational methods for splitting antenna MIMO radar
US20120320787A1 (en) High Resolution Wireless Indoor Positioning System for Legacy Standards-Based Narrowband Mobile Radios
Liu et al. Range and angle estimation for MIMO-OFDM integrated radar and communication systems
Nicoli et al. A jump Markov particle filter for localization of moving terminals in multipath indoor scenarios
CN105319545B (en) Improve the MIMO-OFDM radar waveform design methods of STAP detection performances
CN104142496B (en) Based on the statistics MIMO radar multi-target orientation method that connected domain divides
Paul et al. Extending joint radar-communications bounds for FMCW radar with Doppler estimation
CN103308883B (en) Arrival angle estimation method based on single antenna
CA3078435A1 (en) Metadata-based emitter localization
Grossi et al. Opportunistic automotive radar using the IEEE 802.11 ad standard
US20200217920A1 (en) Method and system for determining a position
Li et al. Optimisation of complete complementary codes in MIMO radar system
KR20090087557A (en) Indoor location system and method thereof
CN107255796A (en) Arrowband near-field signals source localization method under a kind of non-uniform noise
Gong et al. A machine learning-based approach for auto-detection and localization of targets in underwater acoustic array networks
Liu et al. A joint radar-communication precoding design based on Cramer-Rao bound optimization
CN112272064B (en) Detection probability and mutual information calculation method of cooperative MIMO radar

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20190816

RJ01 Rejection of invention patent application after publication