CN110225449A - It is a kind of based on millimeter wave CRAN 3D positioning, test the speed and environment mapping method - Google Patents

It is a kind of based on millimeter wave CRAN 3D positioning, test the speed and environment mapping method Download PDF

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CN110225449A
CN110225449A CN201910427793.8A CN201910427793A CN110225449A CN 110225449 A CN110225449 A CN 110225449A CN 201910427793 A CN201910427793 A CN 201910427793A CN 110225449 A CN110225449 A CN 110225449A
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rrh
user
diameter
environment mapping
speed
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CN110225449B (en
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杨杰
金石
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Southeast University
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Southeast University
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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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • 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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/04—Systems for determining distance or velocity not using reflection or reradiation using radio waves using angle measurements
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/04—Position of source determined by a plurality of spaced direction-finders
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention discloses a kind of, and the 3D based on millimeter wave CRAN positions, tests the speed and environment mapping method, it include: that each user sends uplink orthogonal pilot signal to each RF remote, the signal received is passed to central processing unit, the metrical information that central processing unit passes through each propagation path between reception each RF remote of signal acquisition and each user by forward link by RF remote；Central processing unit utilizes the metrical information of each diameter, filters out the direct projection diameter between user and several RF remotes, establishes co-location velocity estimation model according to the metrical information of related direct projection diameter；According to above-mentioned modelling Combined estimator algorithm, the position and speed of user is obtained；Central processing unit utilizes the metrical information of each diameter, filters out the non-direct projection diameter of single-hop between user and all RF remotes, establishes environment mapping model in conjunction with the user location estimated；According to above-mentioned modelling algorithm for estimating, environment mapping is completed.The present invention realizes high accuracy positioning with low overhead and algorithm complexity.

Description

It is a kind of based on millimeter wave CRAN 3D positioning, test the speed and environment mapping method
Technical field
The present invention relates to a kind of, and the 3D based on millimeter wave CRAN positions, tests the speed and environment mapping method, and it is logical to belong to millimeter wave Letter and location technology crossing domain.
Background technique
Millimetre-wave attenuator is considered as one of most promising technology of 5G and future wireless system.Since millimeter wave frequency band can be with Usable spectrums more more than 6 GHz or less frequency range used at present and bigger bandwidth are provided, therefore can be obtained more accurate Time delay (TD), reaching time-difference (TDoA) and arrival rate are poor (FDoA).The path loss of millimeter wave frequency band is very big, because This, the reception power between direct projection diameter (LoS) and non-direct projection diameter (NLoS) has a long way to go, this to eliminate NLoS diameter and interfere to become It is more easy.Millimetre-wave attenuator needs to compensate serious path damage using the transmission of large-scale antenna array and high directivity Consumption, large-scale antenna array help to obtain more accurate angle of arrival (AoA) and leave angle (AoD).In addition, cloud radio connects Millimetre-wave attenuator performance can also be enhanced by improving network coverage by entering network (CRAN).Therefore, millimeter wave CRAN can To realize more accurate positioning, in turn, location information can further decrease communication delay with auxiliary communication system, improve not Come the scalability and robustness of network.
CRAN is realizes that network-intensive provides a kind of cost-effective mode, wherein distributed low complex degree radio frequency is remote End (RRH) is deployed in user nearby and is coordinated by central processing unit (CU) to carry out Combined Treatment.CU possesses than user more Powerful processing capacity, therefore uplink multipoint positioning may be implemented.Currently, proposing solution party for multipoint positioning existing research person Case.For example, fixing target positioning in radar system, 3D position and speed substep is estimated in radar system, the position 2D in CRAN system Estimation.However in such method, not yet communication system is combined with positioning function, the estimation of joint 3D position and speed and environment Mapping is not also resolved.
In conclusion how by positioning combination into communication system, such as how lesser expense designs co-location speed Estimation and environment mapping algorithm, become one of the problem that the extensive mimo system of millimeter wave is urgently broken through.
Summary of the invention
To solve the above problems, the present invention provide it is a kind of based on millimeter wave CRAN 3D positioning, test the speed and environment mapping side Method, to obtain the information of user's position and speed in three dimensions and message passing environments simultaneously.
The present invention uses following technical scheme to solve above-mentioned technical problem:
The present invention provide it is a kind of based on millimeter wave CRAN 3D positioning, test the speed and environment mapping method, comprising the following steps:
Step 1, each user send uplink orthogonal pilot signal to each RF remote RRH, and RRH will reception by forward link To signal pass to central processing unit CU, CU is by receiving each propagation path between each RRH of signal acquisition and each user Metrical information；
Step 2, CU utilize the metrical information of each propagation path, filter out the direct projection LoS between user and several RRH Diameter establishes co-location velocity estimation model according to the metrical information of related LoS diameter；
The co-location velocity estimation model that step 3, solution procedure 2 are established, obtains the position and speed of user；
Step 4, CU utilize the metrical information of each propagation path, and the single-hop filtered out between user and all RRH is non-straight NLoS diameter is penetrated, establishes environment mapping model in conjunction with the metrical information of the user location obtained in step 3 and related single-hop NLoS diameter；
The environment mapping model that step 5, solution procedure 4 are established completes environment mapping.
As further technical solution of the present invention, in step 1, in step 1, between each RRH and each user that CU is obtained The metrical information of each propagation path includes: that user uplink orthogonal pilot signals reach the angle of arrival AoA at the end RRH, the same use Family signal reaches the time difference TDoA of different RRH and the same subscriber signal reaches the difference on the frequency FDoA of different RRH.
As further technical solution of the present invention, in step 2 and 4, CU is filtered out between user and several RRH LoS diameter and CU filter out there are two ways to single-hop NLoS diameter between user and all RRH: (1) CU utilizes the power of RRH Estimation function, is arranged threshold value, and power is more than that threshold value is judged as that LoS diameter, power are judged as single-hop NLoS diameter lower than threshold value； (2) CU classifies to LoS diameter and single-hop NLoS diameter by supervised learning using neural network, is input training with metrical information Neural network.
The co-location velocity estimation model established as further technical solution of the present invention, step 2 are as follows:
H=Gw+e
Wherein, w is sextuple column vector, the three-dimensional location coordinates of preceding three dimensional representation user, the three of the rear three dimensional representation user Tie up speed coordinate；The measurement vector sum calculation matrix of h and G respectively related LoS diameter；E indicates the error as caused by measurement error Vector； N is RRH Quantity；rn1The measured value for passing through n-th of RRH of LoS diameter arrival and the time difference for reaching the 1st RRH for the information that user sends With the product of propagation velocity of electromagnetic wave,N-th of RRH is reached by LoS diameter for the information that user sends and reaches the 1st RRH Difference on the frequency measured value and propagation velocity of electromagnetic wave product, an=[cos θncosφn,cosθnsinφn,sinθn]T, n-th The three-dimensional location coordinates b of a RRHn=[xb,n,yb,n,zb,n]T, cn=[- sin φn,cosφn,0]T, dn=[- sin θncos φn,-sinθnsinφn,cosθn]T, φnThe azimuthal measurement for passing through n-th of RRH of LoS diameter arrival for the information that user sends Value, θnPass through the measured value that LoS diameter reaches the pitch angle of n-th of RRH, the full 0 vector that z is 1 × 3 for the information that user sends.
As further technical solution of the present invention, in step 4, environment mapping refers to will be between user and each RRH The location estimation of all scatterers for causing single-hop NLoS diameter comes out.
The environment mapping model established as further technical solution of the present invention, step 4 are as follows:
Wherein,It is three dimensional vectors, indicates the three-dimensional location coordinates of a scatterer between user and n-th of RRH； hs,nAnd Gs,nThe measurement vector sum calculation matrix of respectively related single-hop NLoS diameter；es,nIndicate the error as caused by measurement error Vector；N is RRH's Quantity；fn=[cos θs,ncosφs,n,cosθs,nsinφs,n,sinθs,n]T, u°It is the three of expression user location Dimensional vector, the three-dimensional location coordinates b of n-th of RRHn=[xb,n,yb,n,zb,n]T, The is reached by single-hop NLoS diameter for the information that user sends N RRH and the measured value of time difference that the 1st RRH is reached by LoS diameter and the product of propagation velocity of electromagnetic wave, r1For user The distance between 1st RRH, φs,nThe azimuthal of n-th of RRH is reached by single-hop NLoS diameter for the information that user sends Measured value, θs,nPass through the measured value that single-hop NLoS diameter reaches the pitch angle of n-th of RRH for the information that user sends.
As further technical solution of the present invention, it is based on LS algorithm or WLS algorithm in step 3 and 5 or is based on nerve net The environment mapping model that the co-location velocity estimation model and step 4 that the WLS algorithm solution procedure 2 of network is established are established.
The utility model has the advantages that a kind of 3D based on millimeter wave CRAN provided by the invention positions, tests the speed and environment mapping method, have It has the following advantages:
1, the location algorithm in existing millimeter-wave communication system rely on mostly wave beam training as a result, for example, it is desired to feeding back Link provides a user angle of arrival and leaves angle information, cannot achieve in communication link initial access phase.What this programme proposed Localization method is not necessarily to overhead, can be fused in the initial access phase or information transmission stage of communication system；
2, existing location algorithm is not carried out co-location velocity estimation and environment mapping, and this programme is believed using hybrid measurement It ceases (AoA, TDoA, FDoA), co-location velocity estimation and environment mapping model is established, with lower model and algorithm complexity Realize high accuracy positioning；
3, for existing multipoint positioning algorithm based on radar system, millimeter wave MIMO can be obtained high-acruracy survey by this programme The advantages of information (AoA, TDoA, FDoA), combines with CRAN, and multipoint positioning technology is successfully implanted into 3D millimeter wave MIMO system In system.
Detailed description of the invention
Fig. 1 is that a kind of 3D based on millimeter wave CRAN provided in an embodiment of the present invention positions, tests the speed and environment mapping method Flow chart.
Fig. 2 is that a kind of 3D based on millimeter wave CRAN provided in an embodiment of the present invention positions, tests the speed and environment mapping method Positional relationship geometric representation.
Specific embodiment
In being described below, for illustration and not for limitation, the specific of such as specific system structure etc is proposed Details, to understand thoroughly the present invention.However, it will be clear to one skilled in the art that these details its The present invention also may be implemented in its embodiment.
To make the objectives, technical solutions, and advantages of the present invention clearer, it is described in detail below in conjunction with attached drawing. A kind of 3D based on millimeter wave CRAN provided in an embodiment of the present invention positions, tests the speed and environment mapping method, as shown in Figure 1, should Method includes:
Step 1, each user send uplink orthogonal pilot signal to each RF remote RRH, and RRH will reception by forward link To signal pass to central processing unit CU, CU is by receiving each propagation path between each RRH of signal acquisition and each user Metrical information.
It should be noted that as shown in Fig. 2, noteFor the position coordinates of k-th of user,For the speed coordinate of k-th of user.Since the pilot tone that each user sends is mutually orthogonal, the present invention is real Example is applied only to be illustrated by taking a user as an example.The three-dimensional location coordinates and three-dimensional velocity coordinate of user to be estimated are respectivelyWithThe position of N number of RRH is it is known that the three-dimensional location coordinates of n-th of RRH are denoted as bn= [xb,n,yb,n,zb,n]T, wherein n=1,2 ..., N.For the ease of statement, it is assumed that there was only a list between user and each RRH NLoS diameter is jumped, corresponding unknown scattering body position is denoted asThe target of the embodiment of the present invention is according to measurement Information (TDoA, FDoA, AoA) estimates location parameterThe true value of metrical information (TDoA, FDoA, AoA) with The true value of location parameterThere is following corresponding relationship (if a indicates the measured value comprising measurement error, a°It indicates The corresponding true value of measured value a):
(1) TDoA: for LoS diameter, the information that user sends reaches time and the millimeter wave propagation speed of n-th of RRH Product is denoted asFor single-hop NLoS diameter,Wherein ω is indicated unknown User and all RRH clock jitter.The information that user sends reaches n-th of RRH by LoS diameter and reaches by LoS diameter The true value of the time difference of first RRH and the product of millimeter wave propagation speed are denoted asThe information that user sends is passed through Single-hop NLoS diameter reaches n-th of RRH and reaches the true value and millimeter wave propagation speed of the time difference of first RRH by LoS diameter Product be denoted asBy making the difference, unknown clock jitter can be eliminated.
(2) FDoA:FDoA correlation measurement information obtains time derivation by TDoA correlation measurement information, for user's Velocity estimation, therefore LoS diameter is only needed, it is denoted asWherein
(3) AoA: as shown in Fig. 2, for LoS diameter, the azimuth that the information that user sends reaches n-th of RRH isPitch angle isFor single-hop NLoS Diameter, azimuth arePitch angle is
Step 2, CU utilize the metrical information of each propagation path, filter out the LoS diameter between user and several RRH, Co-location velocity estimation model is established according to the metrical information of related LoS diameter.
It should be noted that co-location velocity estimation model is h=Gw+e, whereinIt is unknown use Family position and speed vector；Wherein
And define an=[cos θncosφn,cosθnsinφn,sinθn]T, cn=[- sin φn,cosφn,0]T,
dn=[- sin θncosφn,-sinθnsinφn,cosθn]T；Wherein
And define the full 0 vector that z is 1 × 3.
Step 3, the co-location velocity estimation modelling Combined estimator algorithm established according to step 2, obtain user's Position and speed.
It is asked it should be noted that the embodiment of the present invention is based on WLS algorithm according to co-location velocity estimation model h=Gw+e W is solved, the closed solutions of w estimated value are w=(GTWG)-1GTWh, wherein making the smallest W=of w estimated value variance (E { eeT})-1。
Step 4, CU utilize the metrical information of each propagation path, filter out the single-hop NLoS between user and all RRH Diameter establishes environment mapping model in conjunction with the metrical information of the user location obtained in step 3 and related single-hop NLoS diameter.
It should be noted that the embodiment of the present invention is by taking a scatterer near n-th of RRH as an example in order to simplify expression It is illustrated, the simple extension that is located through of multiple obstacles can be obtained, and details are not described herein again.Environment mapping model isWhereinIt is unknown scatterer position vector；
Whereinfn=[cos θs,ncosφs,n,cosθs,nsinφs,n,sinθs,n]T,
es,nFor error vector caused by measurement error.
Step 5, according to above-mentioned modelling algorithm for estimating, complete environment mapping.
It should be noted that the embodiment of the present invention is mapped according to environmentIt is solved based on WLS algorithmThe closed solutions of estimated value are sn=(Gs,n TWs,nGs,n)-1Gs,n TWs,nhs,n, wherein makingEstimated value variance is the smallest Ws,n=(E { es,nes,n T})-1。
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.

Claims (7)

1. a kind of 3D positioning based on millimeter wave CRAN is tested the speed and environment mapping method, which comprises the following steps:
Step 1, each user send uplink orthogonal pilot signal to each RF remote RRH, and RRH will be received by forward link Signal passes to central processing unit CU, the survey that CU passes through each propagation path between reception each RRH of signal acquisition and each user Measure information；
Step 2, CU utilize the metrical information of each propagation path, filter out the direct projection LoS diameter between user and several RRH, Co-location velocity estimation model is established according to the metrical information of related LoS diameter；
The co-location velocity estimation model that step 3, solution procedure 2 are established, obtains the position and speed of user；
Step 4, CU utilize the metrical information of each propagation path, filter out the non-direct projection of single-hop between user and all RRH NLoS diameter establishes environment mapping model in conjunction with the metrical information of the user location obtained in step 3 and related single-hop NLoS diameter；
The environment mapping model that step 5, solution procedure 4 are established completes environment mapping.
2. according to a kind of 3D positioning based on millimeter wave CRAN as described in claim 1, test the speed and environment mapping method, it is special Sign is, in step 1, CU obtain each RRH and each user between each propagation path metrical information include: user uplink just Angle of arrival AoA, the same subscriber signal for handing over pilot signal to reach the end RRH reach the time difference TDoA of different RRH and same Subscriber signal reaches the difference on the frequency FDoA of different RRH.
3. according to a kind of 3D positioning based on millimeter wave CRAN as described in claim 1, test the speed and environment mapping method, it is special Sign is, in step 2 and 4, CU filters out LoS diameter between user and several RRH and CU filters out user and all RRH Between single-hop NLoS diameter there are two ways to: (1) CU utilize RRH power estimation function, be arranged threshold value, power be more than door Limit value is judged as that LoS diameter, power are judged as single-hop NLoS diameter lower than threshold value；(2) CU passes through supervised learning using neural network Classify to LoS diameter and single-hop NLoS diameter, is to input training neural network with metrical information.
4. according to a kind of 3D positioning based on millimeter wave CRAN as described in claim 1, test the speed and environment mapping method, it is special Sign is, the co-location velocity estimation model that step 2 is established are as follows:
H=Gw+e
Wherein, w is sextuple column vector, the three-dimensional location coordinates of preceding three dimensional representation user, the three-dimensional speed of the rear three dimensional representation user Spend coordinate；The measurement vector sum calculation matrix of h and G respectively related LoS diameter；E indicates the error vector as caused by measurement error；
N=1,2 ..., N, N are RRH's Quantity；rn1The information sent for user n-th RRH reached by LoS diameter and reach the time difference of the 1st RRH measured value and The product of propagation velocity of electromagnetic wave,N-th of RRH is reached by LoS diameter for the information that user sends and reaches the 1st RRH's The measured value of difference on the frequency and the product of propagation velocity of electromagnetic wave, an=[cos θn cosφn,cosθn sinφn,sinθn]T, n-th The three-dimensional location coordinates b of a RRHn=[xb,n,yb,n,zb,n]T, cn=[- sin φn,cosφn,0]T, dn=[- sin θn cos φn,-sinθn sinφn,cosθn]T, φnThe azimuthal survey for passing through n-th of RRH of LoS diameter arrival for the information that user sends Magnitude, θnFor user send information by LoS diameter reach n-th of RRH pitch angle measured value, z be 1 × 3 full 0 to Amount.
5. according to a kind of 3D positioning based on millimeter wave CRAN as described in claim 1, test the speed and environment mapping method, it is special Sign is, in step 4, environment mapping is referred to all scatterers for causing single-hop NLoS diameter between user and each RRH Location estimation comes out.
6. according to a kind of 3D positioning based on millimeter wave CRAN as described in claim 1, test the speed and environment mapping method, it is special Sign is, the environment mapping model that step 4 is established are as follows:
Wherein,It is three dimensional vectors, indicates the three-dimensional location coordinates of a scatterer between user and n-th of RRH；hs,nWith Gs,nThe measurement vector sum calculation matrix of respectively related single-hop NLoS diameter；es,nIndicate the error vector as caused by measurement error；N=1,2 ..., N, N are the quantity of RRH；fn=[cos θs,ncosφs,n,cosθs,nsinφs,n,sinθs,n]T, u ° is the three-dimensional column for indicating user location Vector, the three-dimensional location coordinates b of n-th of RRHn=[xb,n,yb,n,zb,n]T, The is reached by single-hop NLoS diameter for the information that user sends N RRH and the measured value of time difference that the 1st RRH is reached by LoS diameter and the product of propagation velocity of electromagnetic wave, r1For user The distance between 1st RRH, φs,nThe azimuthal of n-th of RRH is reached by single-hop NLoS diameter for the information that user sends Measured value, θs,nPass through the measured value that single-hop NLoS diameter reaches the pitch angle of n-th of RRH for the information that user sends.
7. according to a kind of 3D positioning based on millimeter wave CRAN as described in claim 1, test the speed and environment mapping method, it is special Sign is, the connection established in step 3 and 5 based on LS algorithm or WLS algorithm or WLS algorithm solution procedure 2 neural network based The environment mapping model that coincidence sets velocity estimation model and step 4 is established.
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