CN113965881A - Millimeter wave integrated communication and sensing method under shielding effect - Google Patents
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Abstract
The invention provides a millimeter wave integrated communication and perception method under the shielding effect, which utilizes pilot signals or other known data sequences of the existing communication system to carry out perception. And establishing a probabilistic reasoning model based on a factor graph according to the relation among the received data, the distribution of the environmental scatterers and the shielding effect. And finally, solving a compressed sensing reconstruction problem based on a bilinear approximate message transmission method utilizing the shielding relation, thereby realizing the sensing of the environment. Compared with the existing environment perception reconstruction algorithm, the millimeter wave environment perception algorithm based on the occlusion effect obviously improves the accuracy of environment perception, and provides an efficient environment perception method for the design of a future perception communication integrated system.
Description
Technical Field
The invention relates to the field of wireless communication, in particular to a perception and communication integrated system design in the field of new generation wireless communication.
Background
Millimeter wave (mmWave) has become a research focus in the current wireless communication field due to its characteristics of high bandwidth, high reliability and high integration, combined with large-scale multiple-input multiple-output (MIMO) technology. With the rapid development of the wireless communication industry, in consideration of the rapid increase of connection devices and services, the application scenarios of increasingly complex wireless mobile communication are considered, and the propagation environment of wireless communication signals is increasingly complex. Meanwhile, as wireless communication base stations are more densely deployed, and a receiver and a sender have higher computing power and physical performance than before, the information processing capability is greatly improved, which puts higher requirements on a communication system. Not only do they want to continue to provide the original communication services, but they also want the communication devices to use their own powerful processing power to accomplish the perception of the environment. Specifically, in future wireless communication scenarios, not only wireless broadband connection but also accurate environmental information including, but not limited to, the position, shape, state, electromagnetic characteristics, and the like of background scatterers of stationary or moving objects in the environment are required for new technologies such as smart cities, autonomous driving, and drone positioning.
How to use wireless communication equipment to sense environment based on a wireless communication architecture and realize sensing and communication integration is an important research direction of a next generation wireless communication system. When the uplink is used for environment sensing, the base station receives an uplink communication signal sent by a user, performs data communication and realizes passive environment sensing. One of the challenges in the design of a perceptual-communicative integrated system is the potentially large number of unknown variables in the environment, and thus the sparsity of the target environment itself should be exploited. For example, in cellular communication networks, buildings are sparsely distributed over the wireless network coverage. In addition, the scatterers generally have a shielding effect, and the scatterers close to the user can shield the electromagnetic signals, so that the electromagnetic signals cannot reach the scatterers far away from each other in the same propagation direction. Therefore, not all scatterers in the sensing range will affect the multipath channel of the same user, and the mutual shielding causes different users to face different scatterer environments, and multiple users need to perform multi-view joint sensing. At present, the existing environment perception algorithm does not utilize the relation between the distribution of environment scatterers and the shielding effect, the problem is not considered in a targeted manner, and the performance is poor when an imaging model with the shielding effect is solved.
In conclusion, the problem of inconsistency of the user observation target under the millimeter wave environment perception problem and the occlusion effect is comprehensively considered, and how to jointly realize the separation of the environment information in the uplink data and the resolution of the occlusion effect has higher research difficulty and practical significance.
Disclosure of Invention
The invention aims to solve the problem of how a base station utilizes uplink data transmitted by multiple users to sense the environment in an uplink wireless communication scene. The invention uses the pilot signal or other known data sequence of the existing communication system to sense, separate the receiving and transmitting processing, can be compatible with the existing communication system, and realizes the integration of sensing and communication. Considering that different users face different scatterer environments due to the shielding effect existing between environment scatterers, a millimeter wave integrated communication and sensing method under the shielding effect is provided.
The invention adopts the following specific technical scheme:
a millimeter wave integrated communication and sensing method under a shielding effect comprises the following steps:
1) in the T-th time slot, the base station receives pilot sequence s signals with the length of L, which are sent by all active users in the space;
2) after receiving the signal, the base station converts the environment sensing problem into a compressed sensing reconstruction problem based on a millimeter wave channel model considering the shielding effect;
3) establishing a model of the distribution and shielding relation of the environment scatterers based on the relative position relation between the environment scatterers;
4) calculating the relationship among the received data, the distribution of the environmental scatterers and the shielding effect, and establishing a probabilistic reasoning model based on a factor graph;
5) and (3) solving the compressed sensing reconstruction problem in the step (3) based on a bilinear approximate message transmission method by using an occlusion relation by combining the models obtained in the step (3) and the step (4), thereby realizing the sensing of the environment.
In one or more embodiments, in order to convert the environmental perception problem in step 2) into a compressed perception reconstruction problem, the multipath channel H caused by the environmental scatterers needs to be subjected to a millimeter wave channel model based on consideration of the occlusion effectSEstimation is performed and the environmental information in the channel is separated.
In one or more embodiments, the millimeter wave channel model and compressed sensing reconstruction problem in step 2) is:
a) discretizing the environmental information, regarding the environmental information in the whole space as a point cloud, each point in the point cloud representing its surrounding size lr，wrAnd hrEnvironmental information of the microcubes, which are called pixels; the length, width and height of the perceived scatterer environment are L respectivelyr、WrAnd HrIf the number of the point clouds in the space is N ═ Lr/lr×Wr/wr×Hr/hr(ii) a Each pixel may be empty or have scatterers present; we use a scattering coefficient xnTo represent the scattering coefficient of the microcube in which the cloud point of the nth point is located, if the interior of the microcube is empty, x isn0; the environmental information of the whole space can be represented by the following variables:
x＝[x1，x2，…，xN]T；
2, b) representing the system model as follows, a plurality of users in the space share time-frequency resources, and the nth frequency resource blockRA BS receivesThe antenna receives signals as
Wherein
Represents NRThe received signal of the antenna of the individual BS,
represents NuEach user transmits a pilot of length L symbols, w is noise,
representing the channel coefficients of the direct-view path of the user to the receive antenna,
channel coefficients representing the user to spatial point cloud locations,
representing the channel coefficients of the user to the spatial point cloud locations, an
Wherein
Occlusion matrix representing the user to the spatial point cloud location, when Vs1When all zero columns appear, it indicates that all users cannot perceive the pixel point, i.e. the pixel point is out of the perception range, Vs2(nR)∈{0，1}N×1A shielding matrix for representing the direct projection of the spatial point cloud position to the receiving antenna when Vs2(nR) When zero element appears, it represents that the receiving antenna can not sense the pixel point, the pixel point is out of the sensing range, and V (n)R)＝Vs1(nR)diag(Vs2(nR))；
2, c) based on the system model, the optimization problem for solving the environmental information is expressed as,
during communication, channel uncertainty comes mainly from unknown environmental scatterer distributions, for the direct-view channel HLOSUsing a known statistical model description whereby the user transmits a known pilot s for channel HSThe estimation is performed so as to transform the solution problem into a compressed sensing reconstruction problem:
which will be NRThe channel estimates from the individual BS receive antennas are concatenated into a matrix, where HSIn the known manner, it is known that,
h is known, the environment information x needs to be solved under the condition that the occlusion matrix V is unknown.
In one or more embodiments, the model of the environment scatterer distribution and occlusion relationship in step 3) is:
a pixel point C with a scattering coefficient exists between pixel points A and B, a model of environment scatterer distribution and shielding relation is provided for shielding judgment, the position of the pixel point A is made to be a coordinate origin, coordinates of the pixel points B and C are respectively expressed as B and C, and the condition that the pixel point C shields a direct-view path between the pixel points A and B is met;
the distance d between the pixel point C and the direct-view path between the pixel points a and B is less than the threshold value β:
the angle between vector b and vector c is acute:
b·c＞0；
the pixel point C is positioned between the pixel points A and B:
||c·b||＜||b||2。
in one or more embodiments, one factor graph-based probabilistic inference model in step 4) is:
will be provided with
The posterior probability with x is decomposed into:
constructing a factor graph model according to the compressed sensing reconstruction problem in the step 2) and the shielding relation in the step 3); the factor graph comprises variable nodes
And x, function node
px(x) And
and make HSLength M ═ NuNRWherein:
wherein HSIs a noisy observation of z, the noise is a variance of σwWhite gaussian noise of (1); p is a radical ofx(x) The prior distribution representing x is a gaussian-bernoulli distribution:
px(x)＝(1-λ)δ(x)+λN(x；θx，σx)；
where x denotes the sparsity of the environmental information x,
representing environment information x-pairThe blocking relationship of the road is as follows:
in one or more embodiments, the bilinear approximate message passing method using the occlusion relation in the step 5) is as follows:
a) initializing algorithm parameters, let t be the number of iterations, and for M-1, 2
For M1, 2,.. ang.m, N1, 2,. ang.n, p set in step 4) is usedx(x) And
generating an estimated mean of x
Sum variance
Is estimated as a mean value of
Sum variance
B) calculating for M ═ 1, 2
Is observed as a mean value
Sum variance
The method comprises the following specific steps:
wherein,
c) calculating z for M ═ 1, 2mIs estimated as a mean value of
Sum variance
The method comprises the following specific steps:
wherein,
wherein C is a normalization variable;
d) calculating the mean value of the residuals for M1, 2
Sum variance
The method comprises the following specific steps:
e) for M1, 2,.., M, N1, 2.., N, calculating
Is observed as a mean value
Sum variance
For N1, 2
Is observed as a mean value
Sum variance
The method comprises the following specific steps:
f) calculating for M1, 2
Is estimated mean value of
Sum variance
For N1, 2nIs observed as a mean value
Sum variance
The method comprises the following specific steps:
wherein,
5.g) repeating steps b) to f) until a convergence condition is reached
Obtaining an estimate of the environmental information x
The invention has the beneficial effects that: in a wireless communication uplink, in a scene where a user sends data for environment sensing (for example, one multi-antenna base station uses uplink data sent by a plurality of single-antenna users for environment sensing), the millimeter wave environment sensing method under the shielding effect, namely the millimeter wave integrated communication and sensing method under the shielding effect, uses pilot signals or other known data sequences of the existing communication system for sensing, can be compatible with the existing communication system, and realizes the integration of sensing and communication. Firstly, a millimeter wave channel model considering the occlusion effect is constructed, and the environment sensing problem is converted into a compressed sensing reconstruction problem. And then establishing a model of the distribution and shielding relation of the environment scatterers based on the relative position relation between the environment scatterers. And establishing a probabilistic reasoning model based on a factor graph according to the relation among the received data, the distribution of the environmental scatterers and the shielding effect. And finally, solving a compressed sensing reconstruction problem based on a bilinear approximate message transmission method utilizing an occlusion relation, thereby realizing the sensing of the environment. Compared with the existing environment perception reconstruction algorithm, the millimeter wave environment perception algorithm based on the occlusion effect obviously improves the accuracy of environment perception, and provides an efficient environment perception method for the design of a future perception communication integrated system.
Drawings
FIG. 1 is a diagram of a millimeter wave environment perception scene under an occlusion effect;
FIG. 2 is a schematic diagram of the relationship between the distribution of environmental scatterers and occlusion;
FIG. 3 is a factor graph based on occlusion relationships;
FIG. 4 is a graph of the environmental perception visual results comparing the present invention with other compressed perception reconstruction algorithms;
FIG. 5 is a graph of the number of users versus the accuracy of the environmental perception MSE when comparing the present invention with other compressed sensing reconstruction algorithms;
FIG. 6 is a graph of signal-to-noise ratio (SNR) versus environmental perceptual accuracy (MSE) when comparing the present invention to other compressed perceptual reconstruction algorithms.
Detailed Description
As shown in fig. 1, first we consider a scenario where one Base Station (BS) is deployed in an outdoor area and there are multiple active Users (UEs). In an uplink communication scenario, multiple single-antenna users simultaneously transmit uplink communication signals to the BS. The transmitted signal is scattered by scatterers and multipath propagates to the BS for reception. As shown in the above diagram, the transmission signal of the user 1 is received by the AP after being scattered only by the target scatterers 1 and 3, and the target scatterer 2 does not affect this process.
An embodiment of the invention provides a millimeter wave integrated communication and sensing method under a shielding effect, which comprises the following steps:
1) in the T-th time slot, the base station receives pilot sequence s signals with the length of L, which are sent by all active users in the space;
2) after receiving the signal, the base station converts the environment sensing problem into a compressed sensing reconstruction problem based on a millimeter wave channel model considering the shielding effect;
in an embodiment of the present invention, in order to convert the environmental sensing problem in step 2) into a compressive sensing reconstruction problem, it is necessary to apply a millimeter wave channel model considering an occlusion effect to a multipath channel H caused by an environmental scattererSEstimation is performed and the environmental information in the channel is separated.
Specifically, in an embodiment of the present invention, the millimeter wave channel model and the compressed sensing reconstruction problem in step 2) are as follows:
a) discretizing the environment information, regarding the environment information in the whole space as a point cloud, each point in the point cloud representing its surroundings with a size of lr，wrAnd hrThe microcubes are called pixels. The length, width and height of the sensed scatterer environment are respectively Lr，WrAnd HrIf the number of the point clouds in the space is N ═ Lr/lr×Wr/wr×Hr/hr. Each pixel may be empty or have scatterers present. We use a scattering coefficient xnTo represent the scattering coefficient of the microcube in which the cloud point of the nth point is located, if the interior of the microcube is empty, x isn0. The environmental information of the whole space can be represented by the following variables:
x＝[x1，x2，…，xN]T；
2.b) the system model is represented as follows. Multiple users in space share time frequency resource, on arbitrary frequency resource block, the n-thRThe BS receive antenna receive signal is represented as:
wherein
Represents NRThe received signal of the antenna of the individual BS,
represents NuEach user transmits a pilot of length L symbols and w is noise.
Representing the channel coefficients of the direct-view path of the user to the receive antenna,
channel coefficients representing the user to spatial point cloud locations,
representing the channel coefficients of the user to the spatial point cloud locations, an
Wherein
Occlusion matrix representing the user to the spatial point cloud location, when Vs1When all zero columns appear, all users cannot perceive the pixel point, namely the pixel point is out of the perception range. Vs2(nR)∈{0，1}N×1A shielding matrix for representing the direct projection of the spatial point cloud position to the receiving antenna when Vs2(nR) When zero element appears, it represents that the receiving antenna can not sense the pixel point, the pixel point is out of the sensing range, and V (n)R)＝Vs1(nR)diag(Vs2(nR))。
2, c) based on the system model, the optimization problem for solving the environmental information is expressed as,
during communication, channel uncertainty comes mainly from unknown environmental scatterer distributions, for the direct-view channel HLOSDescribed using a known statistical model. Whereby the user transmits a known pilot s on channel HSThe estimation is performed so as to transform the solution problem into a compressed perceptual reconstruction problem, namely:
which will be NRObtained by a BS receiving antennaIs concatenated into a matrix, where HSIn the known manner, it is known that,
h is known. The environment information x needs to be solved under the condition that the occlusion matrix V is unknown.
3) Establishing a model of the distribution and shielding relation of the environment scatterers based on the relative position relation between the environment scatterers;
specifically, in an embodiment of the present invention, the model of the environment scatterer distribution and the occlusion relationship in step 3) is:
as shown in fig. 2, a pixel point C having a scattering coefficient exists between pixel points a and B, and we propose a model of the relationship between the distribution of the environmental scatterers and the occlusion to perform occlusion determination. Let the position of pixel point a be the origin of coordinates, then the coordinates of pixel points B and C are denoted as B and C, respectively. The pixel point C is judged to shield the direct-view path between the pixel points A and B by meeting the following three-point condition.
The distance d between pixel C and the direct-view path between pixels a and B is less than the threshold beta,
the angle between vector b and vector c is acute,
b·c＞0；
pixel C is located between pixels a and B,
||c·b||＜||b||2；
4) and calculating the relation among the received data, the distribution of the environmental scatterers and the shielding effect, and establishing a probabilistic reasoning model based on a factor graph.
Specifically, in an embodiment of the present invention, a probabilistic inference model based on a factor graph in step 4) is specifically as follows.
Will be provided with
And the x posterior probability is decomposed into,
as shown in fig. 3, a factor graph model is constructed according to the compressed sensing reconstruction problem of step 2) and the occlusion relation in step 3). The factor graph comprises variable nodes
And x, function node
px(x) And
for the sake of brevity, let HSLength M ═ NuNR。
Wherein
Represents HSIs a noisy observation of z, the noise is a variance of σwWhite gaussian noise. p is a radical ofx(x) The prior distribution representing x is a gaussian-bernoulli distribution,
px(x)＝(1-λ)δ(x)+λN(x；θx，σx)；
where λ represents the sparsity of the environmental information x.
Representing the occlusion relationship of the environment information x to the channel,
5) and (3) solving the compressed sensing reconstruction problem in the step (3) based on a bilinear approximate message transmission method by using an occlusion relation by combining the models obtained in the step (3) and the step (4), thereby realizing the sensing of the environment.
Specifically, in an embodiment of the present invention, the bilinear approximate message passing method using the occlusion relationship in this step is:
a) initializing algorithm parameters. Let t be the number of iterations, for M1, 2
For M1, 2,.. ang.m, N1, 2,. ang.n, p set in step 4) is usedx(x) And
generating an estimated mean of x
Sum variance
Is estimated as a mean value of
Sum variance
B) calculating for M ═ 1, 2
Is observed as a mean value
Sum variance
Wherein,
c) calculating z for M ═ 1, 2mIs estimated as a mean value of
Sum variance
Wherein,
c is a normalization variable.
D) calculating the mean value of the residuals for M1, 2
Sum variance
E) for M1, 2,.., M, N1, 2.., N, calculating
Is observed as a mean value
Sum variance
For N1, 2
Is observed as a mean value
Sum variance
F) forM1, 2, 1, N, and calculating
Is estimated mean value of
Sum variance
For N1, 2nIs observed as a mean value
Sum variance
Wherein
G) repeating the stepStep b) to step f) until a convergence condition is reached
Obtaining an estimate of the environmental information x
As can be seen by computer simulation: as shown in fig. 4, where the gamma algorithm completely ignores occlusion effects. The Biliner GAMP algorithm considers the occlusion matrix V and the environment information x as independent variables and does not use the occlusion relationship to respectively solve. Compared with the former two algorithms, the millimeter wave environment sensing algorithm based on the shielding effect obviously improves the accuracy of environment sensing. Fig. 5 shows that the environmental perception effect of the method of the present invention is gradually improved and superior to the existing algorithm as the number of users increases. Fig. 5 shows that the environmental perception effect of the method of the present invention is gradually improved and superior to the existing algorithm as the signal-to-noise ratio increases.
In summary, in a wireless communication uplink, in a scenario where a user transmits data for environment sensing (for example, one multi-antenna base station performs environment sensing by using uplink data transmitted by multiple single-antenna users), the millimeter wave environment sensing method under the occlusion effect proposed in the embodiment of the present invention is a millimeter wave integrated communication and sensing method under the occlusion effect, which senses by using a pilot signal or other known data sequence of an existing communication system, and is compatible with the existing communication system, thereby implementing integration of sensing and communication. Firstly, a millimeter wave channel model considering the occlusion effect is constructed in the embodiment of the invention, and the environment sensing problem is converted into a compressed sensing reconstruction problem. And then establishing a model of the distribution and shielding relation of the environment scatterers based on the relative position relation between the environment scatterers. And establishing a probabilistic reasoning model based on a factor graph according to the relation among the received data, the distribution of the environmental scatterers and the shielding effect. And finally, solving a compressed sensing reconstruction problem based on a bilinear approximate message transmission method utilizing an occlusion relation, thereby realizing the sensing of the environment. Compared with the existing environment perception reconstruction algorithm, the millimeter wave environment perception algorithm based on the occlusion effect obviously improves the accuracy of environment perception, and provides an efficient environment perception method for the design of a future perception communication integrated system.
The above examples are intended to illustrate the invention, but not to limit it. Any modification and variation of the present invention within the spirit of the present invention and the scope of the claims will fall within the scope of the present invention.
Claims (6)
1. A millimeter wave integrated communication and sensing method under a shielding effect is characterized by comprising the following steps:
1) in the T-th time slot, the base station receives pilot sequence s signals with the length of L, which are sent by all active users in the space;
2) after receiving the signal, the base station converts the environment sensing problem into a compressed sensing reconstruction problem based on a millimeter wave channel model considering the shielding effect;
3) establishing a model of the distribution and shielding relation of the environment scatterers based on the relative position relation between the environment scatterers;
4) calculating the relationship among the received data, the distribution of the environmental scatterers and the shielding effect, and establishing a probabilistic reasoning model based on a factor graph;
5) and (3) solving the compressed sensing reconstruction problem in the step (3) based on a bilinear approximate message transmission method by using an occlusion relation by combining the models obtained in the step (3) and the step (4), thereby realizing the sensing of the environment.
2. The millimeter wave integrated communication and sensing method under the occlusion effect according to claim 1, wherein in order to convert the environment sensing problem in step 2) into the compressive sensing reconstruction problem, the multipath channel H caused by the environment scatterer needs to be subjected to the multi-path channel H based on a millimeter wave channel model considering the occlusion effectSEstimation is performed and the environmental information in the channel is separated.
3. The millimeter wave integrated communication and sensing method under the occlusion effect according to claim 1 or 2, wherein the millimeter wave channel model and the compressive sensing reconstruction problem in step 2) are as follows:
a) discretizing the environmental information, regarding the environmental information in the whole space as a point cloud, each point in the point cloud representing its surrounding size lr，wrAnd hrEnvironmental information of the microcubes, which are called pixels; the length, width and height of the perceived scatterer environment are L respectivelyr、WrAnd HrIf the number of the point clouds in the space is N ═ Lr/lr×Wr/wr×Hr/hr(ii) a Each pixel may be empty or have scatterers present; we use a scattering coefficient xnTo represent the scattering coefficient of the microcube in which the cloud point of the nth point is located, if the interior of the microcube is empty, x isn0; the environmental information of the whole space can be represented by the following variables:
x＝[x1，x2，…，xN]T；
2, b) representing the system model as follows, a plurality of users in the space share time-frequency resources, and the nth frequency resource blockRThe BS receive antenna receive signal is represented as:
wherein
Represents NRThe received signal of the antenna of the individual BS,
represents NuEach user transmits a pilot of length L symbols, w is noise,
representing the channel coefficients of the direct-view path of the user to the receive antenna,
channel coefficients representing the user to spatial point cloud locations,
representing the channel coefficients of the user to the spatial point cloud locations, an
Wherein
An occlusion matrix representing a user to a spatial point cloud location when
When all zero columns appear, the pixel point can not be sensed by all users, namely the pixel point is out of the sensing range,
a shielding matrix for representing the direct projection of the spatial point cloud position to the receiving antenna when
When zero element appears, it represents that the receiving antenna can not sense the pixel point, and the pixel point is out of the sensing range, and
2, c) based on the system model, the optimization problem for solving the environmental information is expressed as,
during communication, channel uncertainty comes mainly from unknown environmental scatterer distributions, for the direct-view channel HLOSUsing a known statistical model description whereby the user transmits a known pilot s for channel HSThe estimation is performed so as to transform the solution problem into a compressed sensing reconstruction problem:
which will be NRThe channel estimates from the individual BS receive antennas are concatenated into a matrix, where HSIn the known manner, it is known that,
h is known, the environment information x needs to be solved under the condition that the occlusion matrix V is unknown.
4. The millimeter wave integrated communication and perception method under the occlusion effect according to claim 1 or 2, wherein the model of the environment scatterer distribution and occlusion relationship in step 3) is:
a pixel point C with a scattering coefficient exists between pixel points A and B, a model of environment scatterer distribution and shielding relation is provided for shielding judgment, the position of the pixel point A is made to be a coordinate origin, coordinates of the pixel points B and C are respectively expressed as B and C, and the condition that the pixel point C shields a direct-view path between the pixel points A and B is met;
the distance d between the pixel point C and the direct-view path between the pixel points a and B is less than the threshold value β:
the angle between vector b and vector c is acute:
b·c＞0；
the pixel point C is positioned between the pixel points A and B:
||c·b||＜||b||2。
5. the millimeter wave environment sensing method according to claim 3, wherein the probabilistic inference model based on the factor graph in step 4) is:
will be provided with
The posterior probability with x is decomposed into:
constructing a factor graph model according to the compressed sensing reconstruction problem in the step 2) and the shielding relation in the step 3); the factor graph comprises variable nodes
And x, function node
And
and make HSLength M ═ NuNRWherein:
wherein HSIs a noisy observation of z, the noise is a variance of σwWhite gaussian noise of (1); p is a radical ofx(x) The prior distribution representing x is a gaussian-bernoulli distribution:
px(x)＝(1-λ)δ(x)+λN(x；θx，σx)；
where x denotes the sparsity of the environmental information x,
the occlusion relation of the environment information x to the channel is represented as follows:
6. the millimeter wave integrated communication and perception method under the occlusion effect according to claim 5, wherein the bilinear approximate message passing method using the occlusion relationship in step 5) is:
a) initializing algorithm parameters, let t be the number of iterations, and for M-1, 2
For M1, 2,.. ang.m, N1, 2,. ang.n, p set in step 4) is usedx(x) And
generating an estimated mean of x
Sum variance
Is estimated as a mean value of
Sum variance
B) calculating for M ═ 1, 2
Is observed as a mean value
Sum variance
The method comprises the following specific steps:
wherein,
c) calculating z for M ═ 1, 2mIs estimated as a mean value of
Sum variance
The method comprises the following specific steps:
wherein,
wherein C is a normalization variable;
d) calculating the mean value of the residuals for M1, 2
Sum variance
The method comprises the following specific steps:
e) for M1, 2,.., M, N1, 2.., N, calculating
Is observed as a mean value
Sum variance
For N1, 2
Is observed as a mean value
Sum variance
The method comprises the following specific steps:
f) calculating for M1, 2
Is estimated mean value of
Sum variance
For N1, 2nIs observed as a mean value
Sum variance
The method comprises the following specific steps:
wherein,
5.g) repeating steps b) to f) until a convergence condition is reached
Obtaining an estimate of the environmental information x
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