CN111884972A - Bidirectional high-precision distance measuring system of OFDM communication system - Google Patents
Bidirectional high-precision distance measuring system of OFDM communication system Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L27/00—Modulated-carrier systems
- H04L27/26—Systems using multi-frequency codes
- H04L27/2601—Multicarrier modulation systems
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- 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
- G01S11/08—Systems for determining distance or velocity not using reflection or reradiation using radio waves using synchronised clocks
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- H—ELECTRICITY
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- H04L27/00—Modulated-carrier systems
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- H04L27/2601—Multicarrier modulation systems
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Abstract
The invention discloses a two-way high-precision distance measuring system of an OFDM communication system, which belongs to the field of measurement and control communication and comprises the following steps: the method comprises the steps that a node A and a node B are required to carry out bidirectional distance measurement, in bidirectional distance measurement, the node A transmits a measurement time slot 1 based on an Orthogonal Frequency Division Multiplexing (OFDM) waveform and records transmission time, the node B receives the measurement time slot 1 and carries out accurate OFDM fractional multiple symbol time offset estimation on a measurement reference signal to obtain the accurate time of the node B receiving the measurement time slot 1; similarly, the node B transmits a measurement time slot 2 based on the OFDM waveform, and fills the receiving time of the measurement time slot 1 and the transmitting time of the measurement time slot 2 into a timestamp information field behind the MAC head; and the node A receives the measurement time slot 2, carries out accurate OFDM fractional time offset estimation on the measurement reference signal, demodulates the data channel of the measurement time slot 2 and analyzes the MAC data packet, and obtains the measured value of the real distance by using a two-way ranging principle.
Description
Technical Field
The invention belongs to the field of measurement and control communication, and particularly relates to a bidirectional high-precision distance measuring system based on Orthogonal Frequency Division Multiplexing (OFDM) reference signals, which is widely applied to digital transmission and communication systems.
Technical Field
With the rapid development of internet technology, location-based services will increasingly enter the fields of mass applications and public services. Therefore, a communication system is needed which can meet the requirements of high-capacity communication and high-precision measurement.
At present, the method for distance measurement/positioning by radio comes from radar technology at the source, and two main algorithm means are adopted, namely, TOF/TDOA algorithm is based on flight, namely, the light speed is multiplied by the time to measure the distance, the distance is known, and the relative position coordinate can be naturally calculated; the AOA algorithm is based on the field intensity angle, the direction of the information source is judged through the receiving signal of the intelligent antenna, and the relative position coordinate can be calculated through a plurality of direction angles. For example, the SRS measurement used by the LTE/5G cellular network is a flight-based algorithm, that is, the base station uses a reference signal to measure the time delay and converts the time delay into distance information.
Orthogonal Frequency Division Multiplexing (OFDM), which is a modulation scheme for information transmission by multiple carriers, can be regarded as a modulation technique or a Multiplexing technique. The whole channel is divided into N parallel sub-channels, and the frequency spectrums of each sub-channel are orthogonal to each other, so that the frequency spectrum utilization rate of the channel is greatly improved. The basic idea of OFDM modulation is to convert a serial data stream into N data streams with lower rates by serial-to-parallel conversion, and then modulate N subcarriers with the serial-to-parallel converted data streams. The information rate is changed to 1/N of the original transmission rate, the symbol period length of the OFDM signal is changed to N times of the original length, the capacity of resisting time delay expansion in a channel can be enhanced, and frequency selective fading or narrow-band interference can be well resisted. LTE/5G technology based on OFDM waveforms has become the mainstream technology for wireless cellular networks. Advantages of the communication system based on OFDM waveforms: the method has the advantages of large communication capacity, high spectrum efficiency, rich multiple access modes (time division, frequency division and code division), flexible scheduling and suitability for multi-user scenes.
Reference Signal (RS) in LTE/5G, which is commonly referred to as "pilot Signal", is a known Signal provided by a transmitting end to a receiving end for channel estimation or channel sounding. In the 5G protocol, the downlink reference signals include PDSCH DMRS, CSI-RS, etc., and the uplink reference signals include PUSCH DMRS, SRS, etc.
Under the communication system based on OFDM waveform, the distance measurement method is single: the base station adopts a reference signal (PRACH or SRS) to estimate the air interface transmission delay of the UE, and then converts the air interface transmission delay into a distance. Mode 1 employs PRACH signaling: and the receiver estimates the air interface transmission delay of the UE by utilizing the received delay spectrum obtained by correlating the PRACH sequence and the local ZC sequence. Mode 2 employs SRS signals: and the receiver estimates the air interface transmission delay of the UE by using the delay spectrum after the SRS channel estimation.
The problems of the current ranging method are as follows:
(1) in the existing distance measurement method based on the OFDM waveform communication system, the requirement of high precision cannot be met by using reference signal distance measurement. Taking the SRS reference signal as an example, the time delay spectrum after the SRS channel estimation is used to estimate the air interface transmission time delay of the UE. And (3) distance measurement precision analysis: uplink bandwidth: 20MHz, uplink RB number: 50RB, subcarrier spacing: 30KHz, time delay spectrum sampling interval:
the conversion is distance accuracy: 16.667 m.
(2) The existing reference signal ranging method based on the OFDM waveform communication system adopts one-way ranging, and cannot eliminate measurement errors caused by clock deviation of two communication nodes.
In order to solve the problems, no suitable solution is provided for the LTE/5G technology based on OFDM waveforms at present.
Disclosure of Invention
The method aims to solve the problems that the reference signal based on the OFDM waveform communication system is low in ranging precision and unidirectional ranging cannot eliminate measurement errors caused by clock deviation of two communication nodes. The invention provides a bidirectional high-precision distance measuring system based on an OFDM waveform communication system.
In order to achieve the above object, the present invention proposesA two-way high-precision ranging system of an OFDM communication system comprises: node A and node B which need to carry out bidirectional distance measurement are characterized in that: in two-way ranging, node A transmits a measurement slot 1 based on an orthogonal frequency division multiplexing, OFDM, waveform and records a transmission time tA,1The node B receives the measurement time slot 1, and carries out accurate OFDM fractional time offset estimation on the measurement reference signal to obtain the accurate time t when the node B receives the measurement time slot 1B,2(ii) a Similarly, the node B transmits a measurement time slot 2 based on the OFDM waveform, and receives a time t of the measurement time slot 1B,2And measuring the time slot 2 transmission time tB,3Filling a timestamp information field behind the MAC header; the node A receives the measurement time slot 2, and carries out accurate OFDM fractional time offset estimation on the measurement reference signal to obtain the accurate time t when the node A receives the measurement time slot 2A,4(ii) a The node A demodulates the data channel of the measurement time slot 2 and analyzes the MAC data packet to obtain tB,2And tB,3(ii) a The node A calculates the pseudo range 1 as
Calculate pseudorange 2 as
The node A obtains the measured value of the real distance by using the two-way distance measuring principle
Compared with the prior art, the invention has the following beneficial effects:
the invention realizes high-precision ranging between nodes A, B by using a measurement time Slot (Measure Slot) containing a data channel and a measurement reference signal based on the two-way high-precision ranging of an OFDM reference signal, and does not depend on the time synchronization relation between the clock A of the node A and the clock B of the node B. After receiving the measurement time slot, the receiving end can calculate a coarse pseudorange according to a difference value between a transmitting time stamp t0 carried by a data channel and a local receiving time stamp t1, then perform pseudorange compensation by using accurate time offset calculated by measuring a reference signal, and then calculate an accurate pseudorange estimation value, and finally eliminate pseudorange deviation by using a two-way ranging method to obtain an estimation value of a real distance. The high-precision ranging function can be realized under the existing LTE/5G protocol framework. Compared with the existing ranging technology of LTE/5G, the method has higher precision.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a two-way high-precision distance measuring system of an OFDM communication system according to the present invention;
FIG. 2 is a schematic timing diagram of the two-way ranging of FIG. 1;
FIG. 3 is a flow chart of two-way high-precision ranging based on OFDM reference signals;
fig. 4 is a schematic diagram of the node B of fig. 1 compensating for the deviation of the received symbol timing point and the true signal arrival time of measurement slot 1;
fig. 5 is a schematic diagram of node a of fig. 1 compensating for a deviation between a received symbol timing point and a true signal arrival time of a measurement slot 2;
FIG. 6 is a schematic diagram of a downlink measurement timeslot waveform based on LTE/5G according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a waveform of an uplink measurement timeslot based on LTE/5G according to an embodiment of the present invention;
FIG. 8 is a diagram of simulation results of ranging accuracy under different pilot density RsDensity conditions in accordance with the present invention;
the invention is further illustrated with reference to the following figures and examples.
Detailed Description
See fig. 1-3. In a preferred embodiment described below, an OFDM communication system two-way high-precision ranging system includes: a node A and a node B which need to perform bidirectional distance measurement, wherein the node A comprises: the node A measurement time slot transmitting unit (1), a node A measurement time slot receiving unit (2), a node A receiving time calculating unit (3), a timestamp analyzing unit (4) and a distance calculating unit (5) which are sequentially connected in series; the node B includes: the node B measurement time slot receiving unit (6), the node B receiving time computing unit (7), the time stamp filling unit (8) and the measurement time slot transmitting unit (9) are connected in series in sequence.
The principle of two-way ranging is as follows: node a transmits measurement time slot 1, node B receives measurement time slot 1: the clock A at the node A at the transmission moment of the measurement time slot 1 is recorded as tA,1The clock B at node B is denoted tB,1(ii) a The clock B at the node B at the moment of reception of the measurement slot 1 is denoted tB,2. Node B transmits measurement slot 2, node a receives measurement slot 2: the time of transmission of measurement slot 2 is recorded as t at the clock B of the node BB,3The clock A at node A is denoted as tA,3(ii) a The clock A at the node A at the moment of reception of the measurement slot 2 is denoted tA,4. Let d be (t) and the true distance between node a and node B be dB,2-tB,1)C＝(tA,4-tA,3) C, wherein C is the speed of light. The fixed phase difference of the clocks of node A and node B is Δ t (Δ t unknown), i.e., tA,1-tB,1＝Δt，tA,3-tB,3Δ t. After the node B receives the measurement time slot 1, the pseudo range 1 from the node A to the node B is estimated to be
After the node A receives the measurement time slot 2, the pseudo range 2 from the node B to the node A is estimated to be
Therefore, after two-way ranging, the unknown error term Δ t · C can be eliminated to obtain the estimation of the true distance
In two-way ranging, a measurement slot transmitting unit of a node A transmits a measurement slot 1 based on an Orthogonal Frequency Division Multiplexing (OFDM) waveform, and records a transmission time tA,1(ii) a A measurement time slot receiving unit of the node B receives a measurement time slot 1; measurement of measurement time slot 1 by node B reception time calculation unitThe reference signal carries out accurate OFDM fractional time offset estimation to obtain the accurate time t of the node B receiving the measurement time slot 1B,2(ii) a The time stamp filling unit of the node B measures the time t of the reception of the time slot 1B,2And measuring the time slot 2 transmission time tB,3Filling a timestamp information field behind the MAC header; a measurement time slot transmitting unit of the node B transmits a measurement time slot 2 based on the OFDM waveform; a measurement time slot receiving unit of the node A receives a measurement time slot 2; the receiving time calculation unit of the node A carries out accurate OFDM fractional time offset estimation on the measurement reference signal of the measurement time slot 2 to obtain the accurate time t when the node A receives the measurement time slot 2A,4(ii) a The timestamp analysis unit of the node A demodulates the data channel of the measurement time slot 2 and analyzes the MAC data packet to obtain tB,2And tB,3(ii) a The distance calculation unit of the node A calculates the pseudo range 1 from the node A to the node B by using the light velocity C
Computing the pseudorange 2 from node B to node A as
The distance calculation unit of the node A calculates the measured value of the real distance by using the two-way distance measurement principle
See fig. 4. The method for the node B to calculate the accurate time for receiving the measurement time slot 1 comprises the following steps: a measurement time slot receiving unit of the node B receives the measurement time slot 1 and records the boundary time of receiving OFDM integral multiple symbols: t'B,2(clock B timing); the receiving time calculation unit of the node B carries out accurate OFDM fractional time offset estimation to obtain delta tB,2(ii) a Reception time calculation unit pair t 'of node B'B,2And compensating to obtain the accurate time of receiving the measurement time slot 1 by the node B as follows: t is tB,2＝t′B,2+ΔtB,2。
See fig. 5. The method for the node A to calculate the precise time for receiving the measurement time slot 2 comprises the following steps: the measurement slot receiving unit of the node A receives the measurement slot 2, andrecording received OFDM integer multiple symbol boundary time t'A,4(clock a timing); the receiving time calculation unit of the node A carries out accurate OFDM fractional multiple symbol time offset estimation to obtain delta tA,4(ii) a Reception time calculation unit pair t 'of node A'A,4Compensation is carried out to obtain the accurate moment t of the node A receiving the measurement time slot 2A,4＝t′A,4+ΔtA,4。
The measurement time slot based on the orthogonal frequency division multiplexing OFDM waveform comprises two parts: a data channel and a measurement reference signal, wherein a MAC data packet in the data channel (uplink PUSCH/downlink PDSCH) carries timestamp information and communication service data recorded by a sending end, the timestamp information is filled in a timestamp information field behind an MAC head, and then the communication service data is refilled; the measurement reference signal is used for measuring an accurate estimation value of the OFDM fractional symbol time offset.
In the OFDM fractional time offset estimation, the receiving time computing units of the node A and the node B sample the same algorithm to measure the accurate time offset in the OFDM symbols for the measurement reference signal: firstly, a receiving moment calculation unit carries out CP removing and Fast Fourier Transform (FFT) processing on a received measurement reference signal to obtain an OFDM frequency domain signal; a reception time calculation unit extracts a received pilot signal YkAnd based on pilot data X transmitted by the transmitterkFor the received pilot signal YkPerforming Least Squares (LS) LS estimation
k is 0,1, …, N-1; the receiving time calculating unit carries out conjugate correlation processing on the LS estimated value according to the number delta k of the interval subcarriers of the correlation operation
And performing accumulation processing on the correlation values
Extracting phase information after accumulation of correlation values
The receiving time computing unit computes the time delay estimated value by using the phase information
And obtaining an OFDM fractional multiple symbol time offset estimation value, wherein delta f is the subcarrier interval of the OFDM signal, and pi is the circumferential rate.
See fig. 6-7. In an alternative embodiment, for LTE/5G, the data channel is downlink (PDSCH) or uplink (PUSCH), the measurement reference signal may adopt an existing reference signal or add a dedicated measurement reference signal to obtain higher measurement accuracy, the MAC packet in the downlink (PDSCH) or uplink (PUSCH) data channel carries the timestamp information and the communication traffic data recorded by the transmitting end, and the timestamp information includes the transmitting/receiving time. Design example of MAC packet for measurement slot: the MAC header is followed by a timestamp information field and then by the communication traffic data.
As shown in fig. 8, it is obtained through simulation analysis that for a scenario with a 20M signal bandwidth, under the current waveform design constraint, the intra-symbol ranging RMSE is smaller than 1M under the condition that SNR >0 dB. In the conventional ranging technology of LTE/5G, the ranging accuracy is higher than 10m (16.667m) under the condition of the same signal bandwidth. Therefore, compared with the existing LTE/5G ranging technology, the method has higher precision.
The above detailed description of the embodiments of the present invention, and the detailed description of the embodiments of the present invention used herein, is merely intended to facilitate the understanding of the methods and apparatuses of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A two-way high-precision ranging system of an OFDM communication system comprises: node A and node B which need to carry out bidirectional distance measurement are characterized in that: in two-way ranging, node A transmits a measurement slot 1 based on an Orthogonal Frequency Division Multiplexing (OFDM) waveform and records the transmissionTime of flight tA,1The node B receives the measurement time slot 1, and carries out accurate OFDM fractional time offset estimation on the measurement reference signal to obtain the accurate time t when the node B receives the measurement time slot 1B,2(ii) a Similarly, the node B transmits a measurement time slot 2 based on the OFDM waveform, and receives a time t of the measurement time slot 1B,2And measuring the time slot 2 transmission time tB,3Filling a timestamp information field behind the MAC header; the node A receives the measurement time slot 2, and carries out accurate OFDM fractional time offset estimation on the measurement reference signal to obtain the accurate time t when the node A receives the measurement time slot 2A,4(ii) a The node A demodulates the data channel of the measurement time slot 2 and analyzes the MAC data packet to obtain tB,2And tB,3(ii) a The node A calculates the pseudo range 1 as
Calculate pseudorange 2 as
The node A obtains the measured value of the real distance by using the two-way distance measuring principle
2. The two-way high precision ranging system of the OFDM communication system according to claim 1, wherein: the node A includes: the node A measurement time slot transmitting unit (1), a node A measurement time slot receiving unit (2), a node A receiving time calculating unit (3), a timestamp analyzing unit (4) and a distance calculating unit (5) which are sequentially connected in series; the node B includes: the node B measurement time slot receiving unit (6), the node B receiving time computing unit (7), the time stamp filling unit (8) and the measurement time slot transmitting unit (9) are connected in series in sequence.
3. The two-way high precision ranging system of the OFDM communication system according to claim 2, wherein: a node A measurement time slot receiving unit receives the measurement time slot 2 and records the boundary time t 'of the received OFDM integral multiple symbol'A,4(ii) a Node A is connected withThe receiving time computing unit carries out accurate OFDM fractional multiple symbol time offset estimation to obtain delta tA,4(ii) a Node A receives time calculation unit pair t'A,4Compensation is carried out to obtain the accurate moment t of the node A receiving the measurement time slot 2A,4＝t′A,4+ΔtA,4。
4. The two-way high precision ranging system of the OFDM communication system according to claim 2, wherein: a node B measurement time slot receiving unit receives the measurement time slot 1 and records the boundary time t 'of the received OFDM integral multiple symbol'B,2(ii) a The receiving time computing unit carries out accurate OFDM fractional multiple symbol time offset estimation to obtain delta tB,2(ii) a Reception time calculation unit pair t 'of node B'B,2And compensating to obtain the accurate time of receiving the measurement time slot 1 by the node B as follows: t is tB,2＝t′B,2+ΔtB,2。
5. The two-way high precision ranging system of the OFDM communication system according to claim 1, wherein: a measurement time slot based on an orthogonal frequency division multiplexing, OFDM, waveform comprising: the method comprises the following steps that two parts of contents of a data channel and a measurement reference signal are contained, wherein an MAC data packet in the data channel bears timestamp information and communication service data recorded by a sending end, the timestamp information is filled in a timestamp information field behind an MAC head, and then the communication service data are refilled; the measurement reference signal is used for measuring an accurate estimation value of the OFDM fractional symbol time offset.
6. The two-way high precision ranging system of the OFDM communication system according to claim 1, wherein: in the OFDM fractional time offset estimation, the receiving time computing units of the node A and the node B sample the same algorithm to measure the accurate time offset in the OFDM symbols for the measurement reference signal: firstly, removing CP and Fast Fourier Transform (FFT) processing are carried out on a received measurement reference signal to obtain an OFDM frequency domain signal.
7. The two-way high precision ranging system of OFDM communication system as claimed in claim 6, wherein said ranging system comprises a ranging unit for measuring a distance between said ranging unit and said OFDM communication system: the reception time calculation units of the node A and the node B extract the received pilot signal YkAnd based on pilot data X transmitted by the transmitterkFor the received pilot signal YkPerforming Least Squares (LS) (least Square) estimation
k＝0,1,…,N-1。
8. The two-way high precision ranging system of the OFDM communication system according to claim 7, wherein: the receiving time calculating units of the node A and the node B carry out conjugate correlation processing on the LS estimated value according to the number delta k of the interval subcarriers of the correlation operation
And performing accumulation processing on the correlation values
Extracting phase information after accumulation of correlation values
9. The two-way high precision ranging system of the OFDM communication system according to claim 8, wherein: the receiving time calculating units of the node A and the node B use the phase information to calculate the estimated time delay value
And obtaining an OFDM fractional multiple symbol time offset estimation value, wherein delta f is the subcarrier interval of the OFDM signal, and pi is the circumferential rate.
10. The two-way high precision ranging system of the OFDM communication system according to claim 5, wherein: the MAC packet in the downlink (PDSCH) or uplink (PUSCH) data channel carries the timestamp information and the communication service data recorded by the transmitting end, and the timestamp information includes the transmission/reception time.
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