CN115021843B - Cooperative sensing method for millimeter wave communication multi-user system - Google Patents

Cooperative sensing method for millimeter wave communication multi-user system Download PDF

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CN115021843B
CN115021843B CN202210598636.5A CN202210598636A CN115021843B CN 115021843 B CN115021843 B CN 115021843B CN 202210598636 A CN202210598636 A CN 202210598636A CN 115021843 B CN115021843 B CN 115021843B
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user
base station
matrix
channel
frame
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CN115021843A (en
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戚晨皓
许若彤
陈康建
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Southeast University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/382—Monitoring; Testing of propagation channels for resource allocation, admission control or handover
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/391—Modelling the propagation channel
    • 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
    • H04B7/0456—Selection of precoding matrices or codebooks, e.g. using matrices antenna weighting
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/003—Arrangements for allocating sub-channels of the transmission path
    • H04L5/0048—Allocation of pilot signals, i.e. of signals known to the receiver
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/14—Spectrum sharing arrangements between different networks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention discloses a cooperative sensing method of a millimeter wave communication multi-user system, belonging to the field of communication sensing integration. The method comprises an initial channel access stage and a channel tracking stage, wherein in the initial channel access stage, a pilot signal is sent to a base station by a user, the base station analyzes and processes a received signal to estimate and obtain state information such as distance, speed and angle of the user, and in the channel tracking stage, the base station tracks the user according to the estimated state information of the user. The method can effectively save the channel feedback overhead and realize quick and high-precision channel estimation and channel tracking.

Description

Cooperative sensing method for millimeter wave communication multi-user system
Technical Field
The invention relates to a cooperative sensing method of a millimeter wave communication multi-user system, belonging to the field of communication sensing integration.
Background
Communication and sensing are the most common and important two applications of modern radio frequency technology. With the development of wireless communication, the number of wireless devices and data traffic increase exponentially, low-frequency band resources cannot meet the requirements of high communication speed and large capacity, and future wireless mobile communication networks will aim to apply millimeter waves and above, which conflicts with radar systems existing in the frequency band. Furthermore, as electromagnetic environments become increasingly complex, single-station radar perception cannot meet the perception requirements, and applications of multi-station radars need to consider communications between base stations to exchange and process large-capacity perception data. Thus, there is a need to reasonably consider and design the coexistence, cooperation and joint design problems of the communication system and the perception system on the same frequency band, namely communication perception integration (Integrated Sensing and Communication, ISAC).
ISACs are not only beneficial to efficient utilization of resources such as spectrum and hardware, but also can achieve the purpose of mutual promotion through communication and perceived information sharing. Document [1] proposes to derive channel information using perception to improve communication performance, comparing conventional millimeter wave beam training, beam tracking and beam training under ISAC framework (document [1]: YUAN W, LIU F, MASOUROS C, et al, bayesian Predictive Beamforming for Vehicular Networks: a Low-Overhead Joint Radar-Communication Approach [ J ]. IEEE Transactions on Wireless Communications,2021,20 (3): 1442-56). In the beam training of the traditional communication system, a receiving end selects the receiving beam with the highest signal-to-noise ratio and feeds back the receiving beam to a transmitting end by scanning a specific angle range, and the training precision is constrained by the training overhead; the beam tracking carries out beam training according to prior information, so that the beam cost can be reduced to a certain extent; compared with traditional beam training and beam tracking, the ISAC signal can be used for communication and sensing to extract sensed channel information, and downlink pilot signals and uplink feedback signals are not needed, so that signal overhead is reduced, meanwhile, the whole communication block can be used for sensing, the signal to noise ratio is increased, and estimation accuracy is improved to a certain extent. However, this approach is only applicable in non-collaborative perception scenarios, where the echo signal has uncertainty and unknowns and does not resolve the perceived target.
Disclosure of Invention
The invention aims to: aiming at the defects of the prior art, a cooperative sensing method of a millimeter wave communication multi-user system is provided, and the method comprises two stages: in the first stage, the user terminal sends pilot signals to the base station, and the base station terminal estimates the state information such as the distance, the speed, the angle and the like of the user according to the received signals. In the second stage, the user terminal sends the directional pilot signal to the base station, and the base station terminal carries out state sensing and channel tracking according to the received signal, so that the method has the advantages of simple steps, convenient use, reduced feedback signal cost and capability of distinguishing and identifying the combined sensing target.
The technical scheme is as follows: in order to achieve the technical purpose, the invention provides a method for sensing cooperation of a millimeter wave communication multi-user system, which comprises the following steps: the millimeter wave communication multiuser system comprises a base station and U users, wherein the user numbers are recorded as U, u=1, 2, …, U, and the numbers of radio frequency links of the base station and each user are respectively N R And M R The method comprises the steps of carrying out a first treatment on the surface of the The antenna arrays of the base station and each user are uniform linear arrays with half wavelength interval, and each array has N r And N t A root antenna; the method comprises the following specific steps:
(1) Setting basic parameters of millimeter wave communication system, specifically setting the number of subcarriers of OFDM modulation as K according to the OFDM modulation adopted by base station and user, the duration of one OFDM symbol as T, the subcarrier interval as Deltaf and the center frequency as f c ；
(2) The method comprises the steps of constructing a millimeter wave cooperation perception signal model between a base station and a user, and expressing signals on subcarriers in a frame received by the base station:
(3) The method comprises the steps that initial channel access is conducted on millimeter wave multiple users, pilot signals are sent to a base station through users, the base station analyzes and processes a received pilot signal matrix, and accordingly state information such as distance, speed and angle of the users is estimated and obtained;
(4) And the base station performs channel tracking on the millimeter wave multiuser according to the obtained user state information.
Further, the method for constructing the model in the step (2) is as follows:
(2.1) constructing a millimeter wave cooperative sensing signal model between a base station and a user: after the pilot signal is subjected to digital precoding, radio frequency link and analog precoding by the u-th user, the pilot signal is transmitted through an antenna array, the signal is transmitted in a wireless channel and then arrives at a base station, the signal received by the base station is subjected to analog combination, radio frequency link and digital combination to obtain a received signal, and then the n-th signal received by the base station b Signals on kth subcarrier in frameThe method comprises the following steps:
wherein n is b ＝1,2,…,N b ，k＝1,2,…,K，u＝1,2,…,U。N b Representing the number of frames sent by the user;W B,k and W is R Digital precoding respectively representing the u-th user on the k-th subcarrier channelMatrix, analog precoding matrix, base station and nth user between nth user b A channel matrix on a kth subcarrier in the frame signal, a digital merging matrix and an analog merging matrix of a base station on a kth subcarrier channel; />n represents that the nth user is at the nth b A transmission signal on a kth subcarrier in a frame and a channel additive white gaussian noise vector;
(2.2) constructing a channel matrix model in the millimeter wave cooperative sensing signal model: a visual transmission path LoS is arranged between the u-th user and the base station, the information of the path is represented by an departure angle AoD, an arrival angle AoA and channel attenuation, and a channel model in the millimeter wave cooperative sensing signal model is as follows:
wherein,channel receiving steering vectors and transmitting steering vectors respectively, and the expressions are as follows:
wherein N is r 、N t 、Respectively representing the number of base station antennas, the number of user antennas, the AoD for information and the AoA for information, (. Cndot.) H The representation being transposed by conjugation, [] T Expressed as conjugation, let AoD and AoA of the u-th user LoS be +.>Andthen-> Obtain->
Is the nth between the nth user and the base station b The channel gain on the kth subcarrier in the frame signal is expressed as:
wherein k=1, 2, …, K, n b ＝1,2,…,N b ，Respectively represent LoS channel attenuation coefficient, delay and Doppler frequency offset of the u-th user, T b 、N b Respectively representing the duration of a frame signal and the number of frames transmitted.
Further, the method carries out initial channel access to millimeter wave multiuser, and comprises the following specific steps:
(3.1) a process of transmitting pilot signals by users and receiving the pilot signals by base stations:
(4) uniformly dividing user side information into T by using full angle interval [ -1, 1) 1 Parts, t 1 The individual angle intervals are expressed as:
uniformly dividing base station information into T by using full angle interval [ -1, 1) 2 Parts, t 2 The individual angle intervals are expressed as：
For the U-th user, u=1, 2, …, U, the user uses T in order 1 Different digital precodingAnd analog precoding->I.e. using hybrid precoding +.>Transmitting pilot signals to the base station; the base station uses T in turn 2 The different numbers are combined->And simulation merger->That is, use of hybrid combination +.>Receiving a pilot signal; hybrid precoding->Mix and merge->Respectively point to angle interval +>And the pilot signal received by the base station in this case is denoted as base station (t 1 ,t 2 ) Secondary received signal, t 1 ＝1,2,…,T 1 ，t 2 ＝1,2,…,T 2 The base station receives T altogether 1 T 2 Secondary pilot signalWill receive T 1 T 2 The secondary pilot signal is recorded as a pilot signal received in one stage, the received signals in two stages are recorded as one frame, and the mixed merging used by the base station and the mixed precoding flow used by the user in the second stage of one frame are the same as those used in the first stage, so that the nth base station b In the first and second phases of the frame (t) 1 ,t 2 ) Pilot signals on the kth subcarrier of the secondary reception are respectively:
wherein n is b ＝1,2,…,N b ，N b Indicating the number of signal frames,the (u) th user and the (n) th base station respectively b First stage in frame (t) 1 ,t 2 ) A channel matrix and an additive white gaussian noise vector on a kth subcarrier;the (u) th user and the (n) th base station respectively b Second stage in frame (t) 1 ,t 2 ) Channel matrix and additive white gaussian noise vector next on kth subcarrier +.>Orthogonal pilot matrix transmitted for the u-th user, M in total R Rows, each row is orthogonal sequence corresponding to the u-th user->M R For the number of radio frequency links of the user, +.>The length of (C) is U, [] H Representing the conjugate transpose of the matrix:
then the nth received by the base station b The frame signal can be written asThe duration of one frame signal is T b ＝2T 1 T 2 UT；
(5) For the u-th user, the base station will n-th b Frame first, second stage (t) 1 ,t 2 ) The secondary received signals are multiplied by the orthogonal sequences of the users, respectivelyThen get the nth user n b First and second phases (t) 1 ,t 2 ) The measurement vector of the next kth subcarrier is:
wherein,respectively, a hybrid combining matrix, a hybrid precoding vector, < >>Respectively the nth user n b The (t) th subcarrier of the first and second stage kth subcarriers in the frame 1 ,t 2 ) The expression of gaussian noise in the secondary signal is as follows:
(6) integrating the measurement vectors obtained according to the step (2) to obtain the nth user n b The measurement matrix on the kth subcarrier in the first stage and the second stage in the frame is respectively as follows:
wherein k=1, 2, …, K, n b ＝1,2,…,N b ；
The measurement matrix can be expressed as:
wherein,respectively a mixed merging set of base stations, a mixed precoding set of a u-th user, and +.>Respectively the nth user n b Gaussian noise on the kth subcarrier in the first, second phase in the frame:
(3.2) estimating AoA of LoS using a one-dimensional ESPRIT based method according to a measurement matrix of the u-th user:
(6) in the process that the u-th user transmits the first and second frames of pilot signals, the antenna array makes the following deployment: in the first phase, the base station turns off the N-th r The root antenna, the user antenna is opened completely; in the second stage, the base station turns off the first antenna, and the user antennas are all turned on, so that the received channel steering vectors in the first frame and the second frame are respectively:
obtaining measurement matrix on the kth subcarrier of the first and second stages of the first frame of the kth user according to the step (3.1)
(7) According to the measurement matrix on the kth subcarrier of the first and second phases in the first frame of the kth userTaking k=1, will-> Sorting and combining to obtain a measurement matrix on a first subcarrier of a first frame of a u-th user ∈>
(8) By the following pairPerforming autocorrelation operation to obtain an autocorrelation matrix B:
then, singular value decomposition is carried out on the B, and the obtained unitary matrix is recorded as U;
(9) splitting the unitary matrix U into upper and lower halves by using the following method to obtain the upper half U of the unitary matrix s,1 Lower half U s,2 ：
Then using the formulaCalculating path subspace matrix ψ, +.>Representing pseudo-inverting the matrix;
and (d) obtaining a characteristic value lambda of psi by utilizing characteristic value decomposition, and estimating and obtaining AoA of the u-th user LoS and corresponding information AoA:
(3.3) sensing the LoS distance of the user, the relative radial velocity according to the measurement matrix of the u-th user:
transmitting the nth user at the nth user b In the course of frame pilot signal, n b ＝3,4,…,N b The antennas of the base station end and the user end are all opened, and the nth user received by the base station is obtained according to the step (3.1) b In frame No1. Measurement matrix on two-stage kth subcarrierThe two are arranged and combined to obtain the nth user n b Measurement matrix on kth subcarrier in frame +.>
According to the measurement matrix, the sensing method of the LoS distance and the relative radial speed for the u-th user comprises the following steps:
(5) taking each measurement matrixAnd integrating to obtain the perception matrix of the u-th user:
(6) for R u Performing Fourier transform on each row, and performing inverse Fourier transform on each column to obtain a perception spectrum of the u-th user
Wherein k is d ＝1,2,…,N b -2，k τ ＝1,2,…K；
(7) SearchingThe modulus value of (i·|) represents the modulus value, and the extremum index sequence is recorded as:
(8) calculating LoS distance and relative radial velocity for the u-th userThe estimated values are:
further, the method for tracking the millimeter wave multiuser channel comprises the following steps:
(4.1) predicting user motion state vectors in the t-th channel tracking
The state of the U user is represented by a rectangular coordinate system, u=1, 2, …, U, the U user is set to do uniform linear motion, and the position coordinates of the base station are (s BS ,y BS ). The filter motion state vector of the u-th user in the t-1 th channel tracking isWherein->Filtered position coordinates for the u-th user, < >>Filtered speed vector for the u-th user, < >>The filtered x-axis velocity component and the filtered y-axis velocity component of the u-th user in the t-1 channel tracking, respectively. Assuming that the time interval of the two channel tracking is dt, solving the predicted motion state vector of the u-th user in the t-th channel tracking>The prediction method comprises the following steps:
wherein, the prediction matrix F is:
(4.2) estimating a user motion state vector in a t-th channel tracking:
(3) predicted motion state vector of the (u) th user in the t-th channel tracking according to the step (4.1)AoA for the predicted information of the base station and AoD for the predicted information of the u-th user are obtained:
respectively judgeAnd->Belonging to the section->The division of the interval is the same as that of the step (3.1); user side using hybrid precoding +.>Transmitting pilot signals, and adopting mixed combination at base station end>Receiving the pilot signal and recording the pilot signal received by the base station in this case as the base station (t 1 ,t 2 ) The next received signal is in the channel tracking phase compared to the initial access phase of the channel>The 2 pilot signals received by the base station are recorded as one phase, the received signals of the two phases are recorded as one frame, the nth base station b First and second phases of frame (t) 1 ,t 2 ) Pilot signals on the kth subcarrier of the secondary reception are respectively:
n b ＝1,2,…,N b ，N b representing the number of signal frames>Respectively the nth user n b First stage in frame (t) 1 ,t 2 ) A channel matrix and an additive white gaussian noise vector on a kth subcarrier; />Respectively the nth user n b Second stage in frame (t) 1 ,t 2 ) Channel matrix and additive white gaussian noise vector next on kth subcarrier +.>Orthogonal pilot transmitted for the u-th userMatrix, M altogether R Rows, each row is orthogonal sequence corresponding to the u-th user->M R For the number of radio frequency links of the user, +.>The length of (2) is U:
then base station n b The frame received signal isThe duration of one frame signal is T b ＝4UT；
N obtained according to step (1) b Estimating AoA of LoS of the u-th user by using a one-dimensional ESPRIT method according to the steps (3.1) and (3.2) sequentially, and obtaining the LoS distance of the u-th user as perceived by the step (3.3)And relative radial velocity->
(4) Filtered motion state vector from t-1 th channel trackingObtaining an estimated motion state vector of the (u) th user in the t-th channel tracking>Wherein:
to normalize the motion direction vector:
(4.3) calculating a user filtered motion state vector in the t-th channel tracking:
obtaining a predicted motion state vector for the u-th user according to step (4.1)Obtaining an estimated motion state vector of the (u) th user according to step (4.2)>The method for providing Kalman filtering is used for tracking, and comprises the following steps:
(3) updating the u-th user to obtain a priori covariance matrix in the t-th channel tracking
Wherein,q is the posterior covariance matrix of the t-1 th channel tracking and the t-th channel tracking respectivelyIs a priori covariance matrix and a prediction error covariance matrix of (1), a posterior covariance matrix ++1 when t=1>Initializing to Q;
(4) for the u-th user, calculating the Kalman gain K of the t-th channel tracking t And updating to obtain posterior covariance moment of t-th channel trackingFinally solving the filtered motion state vector of the t-th channel tracking>Wherein, R is a directional channel tracking error covariance matrix and is related to system noise:
(4.4) multiple filtering to achieve channel tracking:
repeating the steps (4.1) (4.2) (4.3) T KF Secondary, implementing continuous channel tracking, T KF For the number of channel tracking times.
The beneficial effects are that: compared with the prior art, the technical scheme of the invention has the following beneficial technical effects:
(1) Compared with the traditional channel estimation and channel tracking methods, the method can reduce the feedback signal overhead;
(2) Compared with the existing channel estimation and channel tracking method under the ISAC framework, the method can realize the distinction and identification of the cooperative sensing targets.
Drawings
Fig. 1 is a schematic diagram of a millimeter wave communication system model used in an embodiment of the present invention;
fig. 2 is a flow chart of hybrid combining used by a base station and hybrid precoding used by a user in an initial access stage of a channel according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a motion trajectory of a user in a linear motion model used in an embodiment of the present invention;
FIG. 4 is an actual value, a filtered value, and a mean square error of a motion state vector of a tracking target simulated by an embodiment of the present invention, the motion state vector including a user x-axis position, a y-axis position, an x-axis motion velocity component, and a y-axis motion velocity component.
Detailed Description
The technical scheme of the invention is further described in detail below with reference to the accompanying drawings and examples.
(1) As shown in fig. 1, basic parameters of the millimeter wave communication system considered by the present invention are as follows:
a base station and U users perform cooperative sensing, and the base station and the users adopt a mixed precoding structure comprising digital precoding and analog precoding; the number of radio frequency links of the base station and the user is N respectively R And M R The method comprises the steps of carrying out a first treatment on the surface of the The antenna arrays of the base station and the user are uniform linear arrays with half wavelength interval, and each array has N r And N t A root antenna; both the base station and the user employ orthogonal frequency division multiplexing modulation (Orthogonal Frequency Division Multiplexing, OFDM); one OFDM symbol has duration T, subcarrier spacing Deltaf, and center frequency f c 。
(2) The millimeter wave communication system model between the base station and the u-th user is described as follows:
(2.1) constructing a millimeter wave cooperative sensing signal model between the base station and the user
After the digital precoding, the radio frequency link and the analog precoding, the pilot signal is sent out through an antenna array by the u user, the signal is transmitted in a wireless channel and then arrives at a base station, and the signal received by the base station is subjected to analog combination, the radio frequency link and the digital precodingAfter combining, the received signal is obtained, and then the nth received by the base station b Signals on kth subcarrier in frameThe method comprises the following steps:
wherein n is b ＝1,2,…,N b ，k＝1,2,…,K，u＝1,2,…,U。N b Representing the number of frames sent by the user;W B,k and W is R Respectively representing a digital precoding matrix, an analog precoding matrix, a base station and a nth user on a kth subcarrier channel b A channel matrix on a kth subcarrier in the frame signal, a digital merging matrix and an analog merging matrix of a base station on a kth subcarrier channel; />n represents that the nth user is at the nth b A transmission signal on a kth subcarrier in a frame and a channel additive white gaussian noise vector;
(2.2) constructing a channel matrix model in the millimeter wave cooperative sensing signal model
A visual transmission path LoS is arranged between the u-th user and the base station, the information of the path is represented by an departure angle AoD, an arrival angle AoA and channel attenuation, and a channel model in the millimeter wave cooperative sensing signal model is as follows:
wherein,channel reception steering vectors and transmission steering vectors,the expression is as follows:
wherein N is r 、N t 、Respectively representing the number of base station antennas, the number of user antennas, the AoD for information and the AoA for information, (. Cndot.) H The representation being transposed by conjugation, [] T Expressed as conjugation, let AoD and AoA of the u-th user LoS be +.>Andthen-> Obtain->
Is the nth between the nth user and the base station b The channel gain on the kth subcarrier in the frame signal is expressed as:
wherein k=1, 2, …, K, n b ＝1,2,…,N b ，LoS channel attenuation respectively representing the u-th userCoefficient reduction, time delay, doppler shift, T b 、N b Respectively representing the duration of a frame signal and the number of frames transmitted.
(3) The invention provides an initial channel access for millimeter wave multiuser, the design scheme is as follows:
(3.1) flow chart of user transmitted pilot signal and base station received pilot signal is shown in FIG. 2
(1) Uniformly dividing user side information into T by using full angle interval [ -1, 1) 1 Parts, t 1 The individual angle intervals are expressed as:
uniformly dividing base station information into T by using full angle interval [ -1, 1) 2 Parts, t 2 The individual angle intervals are expressed as:
for the U-th user, u=1, 2, …, U, the user uses T in order 1 Different digital precodingAnd analog precoding->I.e. using hybrid precoding +.>Transmitting pilot signals to the base station; the base station uses T in turn 2 The different numbers are combined->And simulation merger->That is, use of hybrid combination +.>Receiving a pilot signal; hybrid precoding->Mix and merge->Respectively point to angle interval +>And the pilot signal received by the base station in this case is denoted as base station (t 1 ,t 2 ) Secondary received signal, t 1 ＝1,2,…,T 1 ，t 2 ＝1,2,…,T 2 The base station receives T altogether 1 T 2 Secondary pilot signal, T to be received 1 T 2 The secondary pilot signal is recorded as a pilot signal received in one stage, the received signals in two stages are recorded as one frame, and the mixed merging used by the base station and the mixed precoding flow used by the user in the second stage of one frame are the same as those used in the first stage, so that the nth base station b In the first and second phases of the frame (t) 1 ,t 2 ) Pilot signals on the kth subcarrier of the secondary reception are respectively:
wherein n is b ＝1,2,…,N b ，N b Indicating the number of signal frames,the (u) th user and the (n) th base station respectively b First stage in frame (t) 1 ,t 2 ) A channel matrix and an additive white gaussian noise vector on a kth subcarrier;the (u) th user and the (n) th base station respectively b Second stage in frame (t) 1 ,t 2 ) Channel matrix and additive white gaussian noise vector next on kth subcarrier +.>Orthogonal pilot matrix transmitted for the u-th user, M in total R Rows, each row is orthogonal sequence corresponding to the u-th user->M R For the number of radio frequency links of the user, +.>The length of (C) is U, [] H Representing the conjugate transpose of the matrix:
then the nth received by the base station b The frame signal can be written asThe duration of one frame signal is T b ＝2T 1 T 2 UT；
(2) For the u-th user, the base station will n-th b Frame first, second stage (t) 1 ,t 2 ) The secondary received signals are multiplied by the orthogonal sequences of the users, respectivelyThen get the nth user n b First and second phases (t) 1 ,t 2 ) The measurement vector of the next kth subcarrier is:
wherein,respectively, a hybrid combining matrix, a hybrid precoding vector, < >>Respectively the nth user n b The (t) th subcarrier of the first and second stage kth subcarriers in the frame 1 ,t 2 ) The expression of gaussian noise in the secondary signal is as follows:
(3) integrating the measurement vectors obtained according to the step (2) to obtain the nth user n b The measurement matrix on the kth subcarrier in the first stage and the second stage in the frame is respectively as follows:
wherein k=1, 2, …, K, n b ＝1,2,…,N b ；
The measurement matrix can be expressed as:
wherein,respectively a mixed merging set of base stations, a mixed precoding set of a u-th user, and +.>Respectively the nth user n b Gaussian noise on the kth subcarrier in the first, second phase in the frame:
(3.2) estimating the AoA of the LoS using a one-dimensional ESPRIT-based method based on the measurement matrix of the u-th user
(1) In the process that the u-th user transmits the first and second frames of pilot signals, the antenna array makes the following deployment: in the first phase, the base station turns off the N-th r The root antenna, the user antenna is opened completely; in the second stage, the base station turns off the first antenna, and the user antennas are all turned on, so that the received channel steering vectors in the first frame and the second frame are respectively:
obtaining measurement matrix on the kth subcarrier of the first and second stages of the first frame of the kth user according to the step (3.1)
(2) According to the measurement matrix on the kth subcarrier of the first and second phases in the first frame of the kth userTaking k=1, will-> Sorting and combining to obtain a measurement matrix on a first subcarrier of a first frame of a u-th user ∈>
(3) By the following pairPerforming autocorrelation operation to obtain an autocorrelation matrix B:
then, singular value decomposition is carried out on the B, and the obtained unitary matrix is recorded as U;
(4) splitting the unitary matrix U into upper and lower halves by using the following method to obtain the upper half U of the unitary matrix s,1 Lower half U s,2 ：
Then using the formulaCalculating path subspace momentMatrix psi, & gt>Representing pseudo-inverting the matrix;
(5) and obtaining a characteristic value lambda of the psi by utilizing characteristic value decomposition, and estimating and obtaining the AoA of the LoS of the u-th user and the corresponding information AoA thereof:
(3.3) sensing the user LoS distance and relative radial velocity from the measurement matrix of the u-th user
Transmitting the nth user at the nth user b In the course of frame pilot signal, n b ＝3,4,…,N b The antennas of the base station end and the user end are all opened, and the nth user received by the base station is obtained according to the step (3.1) b Measurement matrix on first and second stage kth sub-carriers in frameThe two are arranged and combined to obtain the nth user n b Measurement matrix on kth subcarrier in frame +.>
According to the measurement matrix, the sensing method of the LoS distance and the relative radial speed for the u-th user comprises the following steps:
(1) taking each measurement matrixAnd integrating to obtain the perception matrix of the u-th user: />
(2) For R u Performing Fourier transform on each row, and performing inverse Fourier transform on each column to obtain a perception spectrum of the u-th user
Wherein k is d ＝1,2,…,N b -2，k τ ＝1,2,…K；
(3) SearchingThe modulus value of (i·|) represents the modulus value, and the extremum index sequence is recorded as:
(4) calculating LoS distance and relative radial velocity for the u-th userThe estimated values are:
(4) The invention provides a method for carrying out channel tracking on millimeter wave multiuser, which has the following design scheme:
(4.1) predicting user motion state vectors in the t-th channel tracking
The state of the U user is represented by a rectangular coordinate system, u=1, 2, …, U, the U user is set to do uniform linear motion, and the position coordinates of the base station are (x BS ,y BS ). The filter motion state vector of the u-th user in the t-1 th channel tracking isWherein->Filtered position coordinates for the u-th user, < >>Filtered speed vector for the u-th user, < >>The filtered x-axis velocity component and the filtered y-axis velocity component of the u-th user in the t-1 channel tracking, respectively. Assuming that the time interval of the two channel tracking is dt, solving the predicted motion state vector of the u-th user in the t-th channel tracking>The prediction method comprises the following steps:
wherein, the prediction matrix F is:
(4.2) estimating user motion State in the t-th channel tracking
(1) Predicted motion state vector of the (u) th user in the t-th channel tracking according to the step (4.1)AoA for the predicted information of the base station and AoD for the predicted information of the u-th user are obtained:
respectively judgeAnd->Belonging to the section->The division of the interval is the same as that of the step (3.1); user side using hybrid precoding +.>Transmitting pilot signals, and adopting mixed combination at base station end>Receiving the pilot signal and recording the pilot signal received by the base station in this case as the base station (t 1 ,t 2 ) The next received signal is in the channel tracking phase compared to the initial access phase of the channel>The 2 pilot signals received by the base station are recorded as one phase, the received signals of the two phases are recorded as one frame, the nth base station b First and second phases of frame (t) 1 ,t 2 ) Pilot signals on the kth subcarrier of the secondary reception are respectively:
n b ＝1,2,…,N b ，N b representing the number of signal frames>Respectively the nth user n b First stage in frame (t) 1 ,t 2 ) A channel matrix and an additive white gaussian noise vector on a kth subcarrier; />Respectively the nth user n b Second stage in frame (t) 1 ,t 2 ) Channel matrix and additive white gaussian noise vector next on kth subcarrier +.>Orthogonal pilot matrix transmitted for the u-th user, M in total R Rows, each row is orthogonal sequence corresponding to the u-th user->M R For the number of radio frequency links of the user, +.>The length of (2) is U:
then base station n b The frame received signal isThe duration of one frame signal is T b ＝4UT；
N obtained according to step (1) b Estimating AoA of LoS of the u-th user by using a one-dimensional ESPRIT method according to the steps (3.1) and (3.2) sequentially, and obtaining the LoS distance of the u-th user as perceived by the step (3.3)And relative radial velocity->
(2) Filtered motion state vector from t-1 th channel trackingObtaining an estimated motion state vector of the (u) th user in the t-th channel tracking>Wherein:
to normalize the motion direction vector:
(4.3) calculating the user filtered motion state vector in the t-th channel tracking
Obtaining a predicted motion state vector for the u-th user according to step (4.1)Obtaining a (u) th user according to step (4.2)Is described as (1) the estimated motion state vector>The method for providing Kalman filtering is used for tracking, and comprises the following steps:
(1) updating the u-th user to obtain a priori covariance matrix in the t-th channel tracking/>
Wherein,q is a posterior covariance matrix of the t-1 th channel tracking, an a priori covariance matrix of the t-1 th channel tracking and a prediction error covariance matrix respectively, and when t=1, the posterior covariance matrix is ∈>Initializing to Q;
(2) computing Kalman gain K for the t-th channel tracking for the u-th user t And updating to obtain posterior covariance moment of t-th channel trackingFinally solving the filtered motion state vector of the t-th channel tracking>Wherein, R is a directional channel tracking error covariance matrix and is related to system noise:
(4.4) multiple filtering to achieve channel tracking
Repeating the steps (4.1) (4.2) (4.3) T KF Secondary, implementing continuous channel tracking, T KF For the number of channel tracking times.
The invention is further described below in connection with simulation conditions and results:
consider a multi-user millimeter wave massive MIMO system in which the number of base station side receiving antenna array elements is 64, i.e., N r =64, the number of rf chains is 4, i.e. N R For u=4 users, the number of antenna elements at the user end is 16, i.e. N t =16, rf chain number 1, i.e. M R =1. The channel fading coefficients satisfy a complex gaussian distribution, i.eAoA for information of channel LoSAnd AoD->All conform to [ -1,1]Uniformly distributed therein. In OFDM modulation, carrier frequency f c For 30GHz, the number of subcarriers K is 316, the subcarrier spacing Deltaf is 240kHz, one OFDM symbol length T is 5.12us, and the bandwidth is 75.84MHz.
Fig. 3 shows a user linear motion model, represented in rectangular coordinates, and simulating only one tracking target, but without loss of generality, the simulation can be generalized to multi-user channel tracking. Let the position coordinates of the base station be (x BS ,y BS ) = (0,800), the tracking target initial position coordinates are (x 0 ,y 0 ) = (80, 0), the tracking target does uniform linear motion, the motion direction is unchanged, and the initial velocity vector is (v) x,0 ,v y,0 ) = (10, 17), the position coordinates are in meters and the speed is in meters per second. The initial channel access adopts the scheme proposed in the step (3), and the channel tracking stage adopts the scheme proposed in the step (4). A in fig. 4 is the actual value, the filtered value, and MSE of the x-axis distance, b in fig. 4 is the actual value, the filtered value, and MSE of the x-axis velocity component, c in fig. 4 is the actual value, the filtered value, and MSE of the y-axis distance, d in fig. 4 is the actual value, the filtered value, and MSE of the y-axis velocity component, [ x-axis distance, x-axis velocity component, y-axis distance, and y-axis velocity component ]]Is a motion state vector, so fig. 4 shows the actual value, the filtered value and the MSE of the motion state vector, and thus it can be known that in channel tracking, both the directional channel estimation result and the kalman filter result converge on the actual motion trajectory. The result of the directional channel estimation can be well matched with the actual motion trail of the tracked target, but partial deviation still exists, and the filtering value of the directional channel estimation is more matched with the actual motion trail after Kalman filtering. Due to the presence of noise, there is a fluctuation in the error in the tracking process, but in general, as the number of iterations increases, the filtered value converges to the actual value. The validity of the tracking scheme is verified.

Claims (1)

1. A method for cooperative sensing of a millimeter wave communication multi-user system is characterized in that: the millimeter wave communication multiuser system comprises a base station and U users, wherein the user numbers are recorded as U, u=1, 2, …, U, and the numbers of radio frequency links of the base station and each user are respectively N R And M R The method comprises the steps of carrying out a first treatment on the surface of the The antenna arrays of the base station and each user are uniform linear arrays with half wavelength interval, and each array has N r And N t A root antenna; the method comprises the following specific steps:
(1) Setting basic parameters of millimeter wave communication system, specifically setting the number of subcarriers of OFDM modulation as K according to the OFDM modulation adopted by base station and user, the duration of one OFDM symbol as T, the subcarrier interval as Deltaf and the center frequency as f c ；
(2) The method comprises the steps of constructing a millimeter wave cooperation perception signal model between a base station and a user, and expressing signals on subcarriers in a frame received by the base station:
(3) The method comprises the steps that initial channel access is conducted on millimeter wave multiple users, pilot signals are sent to a base station through users, the base station analyzes and processes a received pilot signal matrix, and therefore distance, speed and angle state information of the users are estimated and obtained;
(4) The base station performs channel tracking on the millimeter wave multiuser according to the obtained user state information;
the method for constructing the model in the step (2) comprises the following steps:
(2.1) constructing a millimeter wave cooperative sensing signal model between a base station and a user: after the pilot signal is subjected to digital precoding, radio frequency link and analog precoding by the u-th user, the pilot signal is transmitted through an antenna array, the signal is transmitted in a wireless channel and then arrives at a base station, the signal received by the base station is subjected to analog combination, radio frequency link and digital combination to obtain a received signal, and then the n-th signal received by the base station b Signals on kth subcarrier in frameThe method comprises the following steps:
wherein n is b ＝1,2,…,N b ，k＝1,2,…,K，u＝1,2,…,U；N b Representing the number of frames sent by the user;W B,k and W is R Respectively representing a digital precoding matrix, an analog precoding matrix, a base station and a nth user on a kth subcarrier channel b A channel matrix on a kth subcarrier in the frame signal, a digital merging matrix and an analog merging matrix of a base station on a kth subcarrier channel; />n represents that the nth user is at the nth b A transmission signal on a kth subcarrier in a frame and a channel additive white gaussian noise vector;
(2.2) constructing a channel matrix model in the millimeter wave cooperative sensing signal model: a visual transmission path LoS is arranged between the u-th user and the base station, the information of the path is represented by an departure angle AoD, an arrival angle AoA and a channel gain, and a channel model in the millimeter wave cooperative sensing signal model is as follows:
wherein,channel receiving steering vectors and transmitting steering vectors respectively, and the expressions are as follows:
wherein N is r 、N t 、L、Respectively representing the number of base station antennas, the number of user antennas, the number of paths and the number of LoS, and AoD for information and AoA for information, (·) H The representation being transposed by conjugation, [] T Expressed as conjugation, let AoD and AoA of the u-th user LoS be +.>And->Then->Obtain->
Is the nth between the nth user and the base station b The channel gain matrix on the kth subcarrier in the frame signal has the expression:
wherein k=1, 2, …, K, n b ＝1,2,…,N b ，Respectively represent LoS channel attenuation coefficient, delay and Doppler frequency offset of the u-th user, T b 、N b Respectively representing the duration of a frame signal and the number of frames transmitted;
the method comprises the following specific steps of:
(3.1) a process of transmitting pilot signals by users and receiving the pilot signals by base stations:
(1) uniformly dividing user side information into T by using full angle interval [ -1, 1) 1 Parts, t 1 The individual angle intervals are expressed as:
uniformly dividing base station information into T by using full angle interval [ -1, 1) 2 Parts, t 2 The individual angle intervals are expressed as:
for the U-th user, u=1, 2, …, U, the user uses T in order 1 Different digital precodingAnalog precodingI.e. using hybrid precoding +.>Transmitting pilot signals to the base station; the base station uses T in turn 2 Merging of different numbersAnd simulation merger->That is, use of hybrid combination +.>Receiving a pilot signal; hybrid precoding->Mix and merge->Respectively point to angle interval +>And the pilot signal received by the base station in this case is denoted as base station (t 1 ,t 2 ) Secondary received signal, t 1 ＝1,2,…,T 1 ，t 2 ＝1,2,…,T 2 The base station receives T altogether 1 T 2 Secondary pilot signal, T to be received 1 T 2 The secondary pilot signal is recorded asThe pilot signal received in one stage is recorded as one frame, the mixed merging used by the base station in the second stage of one frame and the mixed precoding flow used by the user are the same as those used in the first stage, then the n-th base station b In the first and second phases of the frame (t) 1 ,t 2 ) Pilot signals on the kth subcarrier of the secondary reception are respectively:
wherein n is b ＝1,2,…,N b ，N b Indicating the number of signal frames,the (u) th user and the (n) th base station respectively b First stage in frame (t) 1 ,t 2 ) A channel matrix and an additive white gaussian noise vector on a kth subcarrier;the (u) th user and the (n) th base station respectively b Second stage in frame (t) 1 ,t 2 ) Channel matrix and additive white gaussian noise vector next on kth subcarrier +.>Orthogonal pilot matrix transmitted for the u-th user, M in total R Rows, each row is orthogonal sequence corresponding to the u-th user->M R For the number of radio frequency links of the user, +.>The length of (2) is U:
then the nth received by the base station b The frame signal can be written asThe duration of one frame signal is T b ＝2T 1 T 2 UT；
(2) For the u-th user, the base station will n-th b Frame first, second stage (t) 1 ,t 2 ) The secondary received signals are multiplied by the orthogonal sequences of the users, respectivelyThen get the nth user n b First and second phases (t) 1 ,t 2 ) The measurement vector of the next kth subcarrier is:
wherein,respectively, a hybrid combining matrix, a hybrid precoding vector, < >>Respectively the nth user n b The (t) th subcarrier of the first and second stage kth subcarriers in the frame 1 ,t 2 ) The gaussian noise in the secondary signal is such that,the expressions are as follows:
(3) integrating the measurement vectors obtained according to the step (2) to obtain the nth user n b The measurement matrix on the kth subcarrier in the first stage and the second stage in the frame is respectively as follows:
wherein k=1, 2, …, K, n b ＝1,2,…,N b ；
The measurement matrix can be expressed as:
wherein,respectively a mixed merging set of base stations, a mixed precoding set of a u-th user, and +.>Respectively the nth user n b Gaussian noise on the kth subcarrier in the first, second phase in the frame:
(3.2) estimating AoA of LoS using a one-dimensional ESPRIT based method according to a measurement matrix of the u-th user:
(1) in the process that the u-th user transmits the first and second frames of pilot signals, the antenna array makes the following deployment: in the first phase, the base station turns off the N-th r The root antenna, the user antenna is opened completely; in the second stage, the base station turns off the first antenna, and the user antennas are all turned on, so that the receiving channel guide matrixes in the first frame and the second frame are respectively:
obtaining measurement matrix on the kth subcarrier of the first and second stages of the first frame of the kth user according to the step (3.1)
(2) According to the measurement matrix on the kth subcarrier of the first and second phases in the first frame of the kth userTaking k=1, will-> Sorting and combining to obtain a measurement matrix on a first subcarrier of a first frame of a u-th user ∈>
(3) By the following pairPerforming autocorrelation operation to obtain an autocorrelation matrix B:
then, singular value decomposition is carried out on the B, and the obtained unitary matrix is recorded as U;
(4) splitting the unitary matrix U into upper and lower halves by using the following method to obtain the upper half U of the unitary matrix s,1 Lower half U s,2 ：
Then using the formulaCalculating path subspace matrix ψ, +.>Representing pseudo-inverting the matrix;
(5) obtaining the characteristic value lambda of the psi by utilizing characteristic value decomposition, and estimating and obtaining the AoA of the LoS of the u-th user and the corresponding AoA for information thereof
(3.3) sensing the LoS distance of the user, the relative radial velocity according to the measurement matrix of the u-th user:
transmitting the nth user at the nth user b In the course of frame pilot signal, n b ＝3,4,…,N b The antennas of the base station end and the user end are all opened, and the nth user received by the base station is obtained according to the step (3.1) b Measurement matrix on first and second stage kth sub-carriers in frameThe two are arranged and combined to obtain the nth user n b Measurement matrix on kth subcarrier in frame
According to the measurement matrix, the sensing method of the LoS distance and the relative radial speed for the u-th user comprises the following steps:
(1) taking each measurement matrixAnd integrating to obtain the perception matrix of the u-th user:
(2) for R u Performing Fourier transform on each row, and performing inverse Fourier transform on each column to obtain a perception spectrum of the u-th user
Wherein k is d ＝1,2,…,N b -2，k τ ＝1,2,…K；
(3) SearchingIs used for expressing the modulus value, |and recording the index sequences of the modulus value are respectively as follows:
(4) calculating LoS distance and relative radial velocity for the u-th userThe estimated values are:
the method for tracking the millimeter wave multiuser channel comprises the following steps:
(4.1) predicting user motion state vectors in the t-th channel tracking
The state of the U-th user is represented by a rectangular coordinate system, u=1, 2, …, U, the U-th user is set to do uniform linear motion, and the position coordinates of the base station are (x BS ,y BS ) The method comprises the steps of carrying out a first treatment on the surface of the The filter motion state vector of the u-th user in the t-1 th channel tracking is Wherein->Filtered position coordinates for the u-th user, < >>For the speed vector of the u-th user, +.>The filtered x-axis velocity component and the filtered y-axis velocity component of the u-th user in t-1 channel tracking are respectively; assuming that the time interval of the two channel tracking is dt, solving the predicted motion state vector of the u-th user in the t channel tracking>The prediction method comprises the following steps:
wherein, the prediction matrix F is:
(4.2) estimating a user motion state vector in a t-th channel tracking:
(1) predicted motion state vector of the (u) th user in the t-th channel tracking according to the step (4.1)AoA for the predicted information of the base station and AoD for the predicted information of the u-th user are obtained:
respectively judgeAnd->Belonging to the section->The division of the interval is the same as that of the step (3.1); user side using hybrid precoding +.>Transmitting pilot signals, and adopting mixed combination at base station end>Receiving the pilot signal and recording the pilot signal received by the base station in this case as the base station (t 1 ,t 2 ) The next received signal is in the channel tracking phase compared to the initial access phase of the channel>The 2 pilot signals received by the base station are recorded as one phase, the received signals of the two phases are recorded as one frame, the nth base station b First and second phases of frame (t) 1 ,t 2 ) Pilot signals on the kth subcarrier of the secondary reception are respectively:
N b representing the number of signal frames>Respectively the nth user n b First stage in frame (t) 1 ,t 2 ) Transmitting pilot signals and additive white gaussian noise vectors on kth subcarriers; />Respectively the nth user n b Second stage in frame (t) 1 ,t 2 ) Transmitting pilot signal and additive white gaussian noise vector on kth subcarrier, and +.>Orthogonal pilot matrix transmitted for the u-th user, M in total R Rows, each row is orthogonal sequence corresponding to the u-th user->M R For the number of radio frequency links of the user, +.>The length of (2) is U:
then base station n b The frame received signal isThe duration of one frame signal is T b ＝4UT；
N obtained according to step (1) b Estimating AoA of LoS of the u-th user by using a one-dimensional ESPRIT method according to the steps (3.1) and (3.2) sequentially, and obtaining the LoS distance of the u-th user as perceived by the step (3.3)And relative radial velocity->
(2) Filtered motion state vector from t-1 th channel trackingObtaining an estimated motion state vector of the (u) th user in the t-th channel tracking>Wherein:
to normalize the motion direction vector:
(4.3) calculating the user filtered motion state vector in the t-th channel tracking
Obtaining a predicted motion state vector for the u-th user according to step (4.1)Obtaining an estimated motion state vector of the (u) th user according to step (4.2)>The method for providing Kalman filtering is used for tracking, and comprises the following steps:
(1) updating the u-th user to obtain a priori covariance matrix in the t-th channel tracking
Wherein,q is a posterior covariance matrix of the t-1 th channel tracking, an a priori covariance matrix of the t-1 th channel tracking and a prediction error covariance matrix respectively, and when t=1, the posterior covariance matrix is ∈>Initializing to Q;
(2) for the u-th user, calculating the Kalman gain K of the t-th channel tracking t And updating to obtain posterior covariance moment of t-th channel trackingFinally solving the filtered motion state vector of the t-th channel tracking>Wherein, R is a directional channel tracking error covariance matrix and is related to system noise:
(4.4) multiple filtering to achieve channel tracking
Repeating the steps (4.1) (4.2) (4.3) T KF Secondary, implementing continuous channel tracking, T KF For the number of channel tracking times.
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