CN1307426C - Angle evaluating method for restraining multi-path influence - Google Patents
Angle evaluating method for restraining multi-path influence Download PDFInfo
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- CN1307426C CN1307426C CNB021255970A CN02125597A CN1307426C CN 1307426 C CN1307426 C CN 1307426C CN B021255970 A CNB021255970 A CN B021255970A CN 02125597 A CN02125597 A CN 02125597A CN 1307426 C CN1307426 C CN 1307426C
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Abstract
The present invention relates to an angle evaluating method for inhibiting multi-path influence, which is used for estimating radiation source angles, respectively sieves and judges corresponding the situations of various paths between radiation sources and receiving machines and carries out angle estimation by a corresponding angle estimation method. The angle evaluating method specifically comprises the following steps: 1), data collection is carried out for obtaining the power time delay distribution data of radiation sources; 2), the judgment of paths is carried out for identifying the positions and the power of effective paths on the power time delay distribution; 3), NLOS identification is carried out, and the path position information and the power information of the paths outputted in step 2) are used for identifying whether direct reaching paths exist between radiation sources and receiving machines; 4), path sieving is carried out; 5), angle estimation is carried out, and a corresponding angle estimation method is determined according to the results of NLOS identification and path sieving. The present invention can obviously enhance the angle estimating precision of radiation sources in complicated geographic environment and is suitable for the estimation of azimuth angles and pitching angles.
Description
Technical field
The present invention relates to wireless positioning field, relate in particular to the angle estimating method of mobile position estimation in the third generation cell mobile communication systems.
Background technology
In radiolocation or directional technology, it is a basic fundamental that angle is estimated.U.S. Pat 6,008, a kind of ESPRIT method that obtains broad research at present in the array antenna received machine is disclosed for No. 759, can produce very high estimated accuracy, but the essence of this method is the estimation of the angle of arrival of diameter, rather than to the estimation of radiation source actual angle, the effective prerequisite of this method is to have visual route between radiation source and receiver.In actual use, particularly in have multipath do not have line of sight or situation that line of sight is more weak under, this method precision just can't be guaranteed.One, for existing between radiation source and the receiver under the situation of LOS path (visual route), when line of sight was more weak with respect to the reflection footpath, the angle estimated value of this method can directly be drawn partially by stronger reflection, or ignores the line of sight mistake is estimated the arrival angle in reflection footpath as angle output fully.Two, for the situation that does not have LOS (Line of Sight) path between radiation source and the receiver, particularly during multipath, referring to Fig. 1, the ripple that the ESPRIT method can only be obtained multipath reaches angle, and can't obtain the actual angle of radiation source, this moment, the ESPRIT method lost due meaning to the accurate estimation of the angle of arrival in single footpath.This figure has only provided the footpath that arrives receiver after the experience primary event, the electric wave signal of array antenna received machine 101 received radiation sources (transfer table), 110 emissions among the figure, because blocking of barrier 104, the electric wave of radiation source 110 emissions can't directly propagate into receiver 101 with visual route, the signal of just object 102,103,106,107,108 reflections that receiver 101 can receive, its travel path is the c among Fig. 1 .a, a, b, e, d, and these signals can be received the machine resolution, the c that pie graph 2 indicates, a, b, e, d power peak.This ESPRIT algorithm carries out angle when estimating to the radiation source 110 of Fig. 1, even if can tell each footpath c, and a, b, e, the ripple of d reaches angle, also can't determine the true angle of radiation source 110.
And another kind of method based on the barycenter principle, the situation that between radiation source and receiver, has the LOS path, when line of sight is more weak with respect to the reflection footpath, the angle estimated value of this method can directly be drawn partially by stronger reflection equally, or ignores the line of sight mistake is estimated the arrival angle in reflection footpath as angle output fully.Two, for there not being the LOS path between radiation source and the receiver, the angle estimated value of this method can be reflected equally and directly draw partially, even can estimate that opposite direction gets on, owing to the inclined to one side effect of drawing of footpath d shown in Figure 1, the angle that obtains at last estimates also to exist very big error.
U.S. Pat 6,112,095 has provided the method for determining radiation source (cellular mobile station) by pattern match, this method is under the situation that multipath exists, be under the non-visual environment especially, can determine the position of radiation source more exactly, the characteristics of this method are: the multipath information structuring power azimuth spectrum vector (SIGNATURE) that utilizes array antenna received to arrive, the position angle of 360 degree is divided into several sectors, as a sector correspondence once subtended angle, the angular power spectrum of the radiation source in this specific sector is sorted out the power azimuth spectrum vector that just obtains with this angle correspondence through demarcating.When actual angle is estimated, at first obtain the power azimuth spectrum vector, the power azimuth spectrum vector according to a matching principle and demarcation mates then, and the angle of selecting immediate power azimuth spectrum vector correspondence is as the angle estimated value.The shortcoming of this method is: 1) require in the practical application to demarcate carrying out ergodicity in the service area, this process is too loaded down with trivial details; 2) coordinate of each reference position and position angle adopt the location output of GPS to calculate, and under urban environment, the bearing accuracy of GPS also is difficult to guarantee, so this scaling method can't guarantee the accuracy of demarcating.
Summary of the invention
Be not suitable for the multi-path dense environment at existing direction of arrival (DOA DIRECTION OF ARRIVAL) technology, particularly be not suitable for non-visual (NLOS, Non Line of Sight) angle to radiation source is estimated under the environment, and there is the shortcoming that realization is complicated, precision is not high in the angle estimation technique of existing anti-multipath influence, the purpose of this invention is to provide a kind of angle estimating method that suppresses multi-path influence, this method can accurately be measured the angle of radiation source equally under the situation of no line of sight or multipath, and realizes easy.
The principle of the invention is based on following two objective facts:
1) many practical applications, as the mobile position estimation under the urban environment, the estimated accuracy that does not need super-resolution, this moment, the principal element of limited angular estimated performance was a multipath, rather than the performance of angle algorithm for estimating self, for such application, if having line of sight and do not have the influence of multipath, classical angle estimating method promptly can reach needed precision as the method based on the barycenter principle.
2) around radiation source, scatterer is more little, and its space distribution is just even more, and the performance of the angle estimating method of employing barycenter principle is good more.
Therefore, basic angle estimating method of the present invention is based on the angle estimating method of barycenter principle, carry out the NLOS identification of carrying out before the angle estimation, the screening in footpath, the bilateral distribution judgement in footpath in use barycenter principle, it all is the condition of creating a performance that can produce for basic angle estimating method, as, in order to guarantee the performance of barycenter principle, need: the footpath of 1) as far as possible selecting morning time of arrival is as the head footpath; 2) select through the footpath of little scatterer reflection or scattering, and difference time of arrival in the time of arrival in these footpaths and first footpath to be limited in the regular hour interval as far as possible; 3) footpath that requires to pick out is that arrival angle about the head footpath is bilateral and distributes; In the time can't picking out arrival angle about head footpath and be the footpath that bilateral distributes, estimate to draw inclined to one side based on the angle of barycenter principle, at this moment, need use the barycenter principle to carry out further doing angle correction after angle estimates.
The present invention in data acquisition, use interference cancellation method purpose just for: 1) further extract the footpath that more early arrives; 2) the further homogeneity of utilizing littler scatterer space distribution.
In brief, the present invention estimates that screening, interference cancellation technology and the angle in non-visual route identification, footpath organically combine, provided a kind of basic skills that suppresses multipath to the influence of array antenna receiver angle estimated accuracy, core of the present invention is based on the screening technique in the footpath of NLOS identification, by under different situations, filtering out different footpaths, can guarantee under LOS, NLOS situation, can suppress the influence of multipath effectively, reach high angle estimated accuracy the angle estimated accuracy.
The present invention is by the following technical solutions: a kind of angle estimating method that suppresses multi-path influence, be used to estimate the radiation source angle, and it is characterized in that may further comprise the steps:
1) carries out data acquisition, to obtain the power time delay distributed data of radiation source;
2) carry out judgement directly, identify position and power that effective diameter is gone up in the power time delay distribution;
3) carry out NLOS identification, utilize 2) whether the position in the footpath of step output and power information identify have line of sight to exist between radiation source and receiver;
4) carry out screening directly, comprising:
Read the result of non-visual NLOS identification;
Judge between radiation source and receiver, whether there is visual LOS channel according to non-visual NLOS recognition result;
If between radiation source and receiver, there is visual LOS channel, just carry out the multipath screening of LOS channel, reject all footpaths outside the line of sight, only keep line of sight;
If between radiation source and receiver, there is not visual LOS channel, just carry out screening relative time delay according to multipath, reject the multipath that produces from radiation source reflecting body far away or scatterer; And screen according to the relative power of multipath, rejected the footpath that strong reflecting body or scatterer produce;
5) angle is estimated, according to the result and the footpath results of screening of NLOS identification, determines corresponding angle estimating method.
The step of this data acquisition is as follows:
1) at the base band of receiver or intermediate frequency or radio frequency part the emitter Signals that receives is gathered;
2) signal of being gathered is carried out coherent accumulation, improve the signal interference ratio of the power time delay distribution of radiation source to be measured.
The angle estimating method of described inhibition multi-path influence, the step of this data sampling also carry out interference cancellation in signals collecting and coherent accumulation between two steps.
The angle estimating method of described inhibition multi-path influence after coherent accumulation is finished, also can carry out noncoherent accumulation, the signal interference ratio that distributes with the power time delay of further raising radiation source to be measured.
The angle estimating method of described inhibition multi-path influence, the judgement in footpath may further comprise the steps: at first determine a footpath decision rule; Fail to judge probability and void is as required declared probability and is determined a reasonably footpath decision threshold then; Determine the position in footpath at last according to footpath decision rule and thresholding, and the power in output footpath.
Described decision threshold, determine by following steps:
1) extracts ground unrest in real time;
2) according to the distribution pattern of ground unrest, ground unrest is estimated the distribution parameter of noise as sample, utilized the distribution parameter that estimates to determine the concrete probability density function of ground unrest then;
3) probability density function of false alarm rate as requested and ground unrest is determined the detection threshold in footpath.
The angle estimating method of described inhibition multi-path influence, the basic step of NLOS identification is as follows:
At first import the measured value of multipath amplitude distribution, adjudicate according to the amplitude in first footpath then:
Obtain time of arrival the two-way time that reports according to system, for the multipath amplitude distribution measurement result of utilizing downlink to carry out, and the received power of input transfer table and the emissive power of base station; For the multipath amplitude distribution measurement result of utilizing up-link to carry out, then import the emissive power of transfer table and the received power of base station;
Suppose that first footpath is non-visual route, whether the power in first footpath that relatively receives satisfies the decline relation under the non-visual route condition: whether its amplitude satisfies than the free space decline is lower than default threshold value, if satisfy, just is judged to non-visual route, otherwise, just be judged to visual route; Receive the result of non-visual route identification.
The angle estimating method of described inhibition multi-path influence will judge also whether the remaining multipath distribution spatially in screening back is that bilateral distributes.
The angle estimating method of described inhibition multi-path influence, the step that angle is estimated is as follows:
1) reads position and the power that screens remaining footpath, back through the footpath, read the NLOS recognition result;
2) judged whether that LOS directly exists,, just entered based on the angle in LOS footpath and estimate, adopted electric scanning or mechanical scanning to seek the angle estimated value of the strongest angle in the LOS footpath of reception as radiation source if having;
3) whether if judge do not have visual LOS directly to exist, reading the diameter distribution is the judged result that bilateral distributes, if bilateral distributes, then adopts the barycenter principle to carry out angle and estimates; If one-sided distribution is carried out estimating based on the angle of the one-sided distribution of multipath.
The angle estimating method of described inhibition multi-path influence when the footpath is one-sided distribution, also carries out angle correction, and step is as follows:
1) at first adopts the angle that distributes based on multipath estimation bilateral to estimate the multipath of one-sided distribution is carried out the angle estimation, calculate maximum average signal interference ratio simultaneously;
2) the maximum average signal interference ratio that calculates according to the first step reads the distribution parameter of NLOS error;
3) utilize distribution parameter to ask for the NLOS error mean;
4) angle correction, the NLOS error mean that the 3rd step obtained
Be the average of radiation source to the distance of scatterer barycenter, the barycenter of scatterer is to the average of the distance of receiver
Scater can be obtained by the average that deducts the NLOS error time of arrival from the radiation source to the receiver in (TOA) value, is the center of circle with the receiver, with
Scater is that radius is drawn circle, calculates chord length to be on this circle
The angle of string correspondence, this angle is exactly the angle correction amount that needs, and makes correction for direction to determine according to the situation of one-sided distribution.
The angle estimating method of described inhibition multi-path influence, the basic step of NLOS identification is as follows:
1) power time delay of gathering respectively on each antenna element distributes;
2) the first footpath on the power time delay that detects each antenna element correspondence distributes also calculates the power or the amplitude in each first footpath;
3) power or the amplitude with each first footpath is sample, calculates the sample coefficient of dispersion;
4) NLOS judgement:, determine between transfer table and the base station array antenna whether be the NLOS path according to the size of sample coefficient of dispersion.
Described NLOS discerns, and can adopt the mode of single decision threshold, also can adopt the mode of two decision thresholds.
The multi-path influence angle estimating method that suppresses of the present invention is applicable to Azimuth Estimation or angle of pitch estimation.
The angle estimating method that suppresses multi-path influence of the present invention is characterized in that this angle estimating method is applicable to array antenna received machine that adopts electric scanning or the receiver that adopts mechanical scanning and directional aerial.
The angle estimating method of inhibition multi-path influence of the present invention can significantly improve under the complicated geographical environment (as urban environment) the angle estimated accuracy to radiation source, under the more weak situation of no line of sight or multipath or line of sight, can estimate the angle of radiation source equally accurately and efficiently, has automatic adaptability, and realize easy, the angle estimating method of the inhibition multi-path influence that the present invention is provided both had been applicable to that the angle that cooperates target estimated, was applicable to that also the angle of non-cooperation target is estimated; Both be applicable to Azimuth Estimation, also be applicable to angle of pitch estimation.
The present invention provides and suppresses many angles estimation basic fundamental approach through influence, both be suitable for adopting in the array antenna received machine of electric scanning and suppressed multipath, and also be applicable to and suppress multipath in the receiver that adopts mechanical scanning and directional aerial the angle estimation effect to the angle estimation effect.
Description of drawings
Fig. 1 is the power of multipath to array antenna receiver angle estimation effect synoptic diagram and each footpath;
Fig. 2 suppresses the algorithm flow chart of multipath to the influence of array antenna receiver angle estimated accuracy;
Fig. 3 is the data acquisition performing step;
Fig. 4 is the multipath screening step;
Fig. 5 is the angle estimating step;
Fig. 6 is that the angle of multipath when being one-sided distribute estimated.
Embodiment
Referring to Fig. 2, the present invention is used to estimate the radiation source angle, filters out corresponding footpath respectively according to the situation in various footpaths between radiation source and the receiver, carries out angle again and estimates.This method specifically is made up of 5 basic steps:
The first step 201 is to carry out data acquisition, to obtain the power time delay distributed data of radiation source;
The 3rd step 203 was to carry out NLOS identification, utilized the position and the power information in the footpath of second step output to identify whether the line of sight existence is arranged between radiation source and receiver;
The 4th step 204 was carried out the screening in footpath, and the result according to the 3rd step NLOS identification takes different footpath screening techniques;
The 5th step 205 was that angle is estimated, according to the result and the footpath results of screening of NLOS identification, determined corresponding angle estimating method.
Referring to Fig. 3, the basic step of data acquisition wherein is as follows:
The first step 301, at the base band of receiver or intermediate frequency or radio frequency part the emitter Signals that receives is sampled, for electric scanning array antenna received machine, need independently adopt each road receiving cable, this disposal route is identical with sampling process in the common array antenna received machine;
The 3rd step 303 coherent accumulations, the signal interference ratio that distributes with the power time delay that improves radiation source to be measured;
The 4th step 304 noncoherent accumulations, further improve the signal interference ratio that the power time delay of radiation source to be measured distributes, identical in specific implementation method and the existing reception, in the application of reality, if estimated accuracy is less demanding, the 3rd step and the 4th step can only be carried out one of them step.
The basic step of footpath judgement is as follows:
At first determine a decision rule;
Fail to judge probability and void is as required declared probability and is determined a reasonably footpath decision threshold then;
Determine the position in footpath at last according to footpath decision rule and thresholding, and the power in output footpath.
About determining of thresholding, the present invention adopts CFAR detection, promptly in actual working environment, adjusts the footpath detection threshold adaptively according to the variation of ground unrest, remains unchanged to guarantee false alarm rate.
The first step: extract ground unrest in real time;
Second step: according to the distribution pattern (distributing or normal distribution) of ground unrest, ground unrest is estimated the distribution parameter of noise as sample, utilized the distribution parameter that estimates to determine the concrete probability density function of ground unrest then as CHI2;
The 3rd step: the false alarm rate as requested and the probability density function of ground unrest are determined the noise gate that the footpath is detected, i.e. Jing detection threshold;
Like this, just can carry out the footpath judgement according to the detection threshold that the 3rd step was determined.In conjunction with the step of the judgement of last face diameter, in power time delay distributes, be exactly the position in footpath greater than the peak point of the detection threshold in footpath.
Among the present invention, the basic step of NLOS identification is as follows:
At first import the measured value of multipath amplitude distribution, adjudicate according to the amplitude in first footpath then:
Obtain time of arrival the two-way time that reports according to system, measures the received power of input transfer table and the emissive power of base station for the multipath amplitude distribution of utilizing downlink to carry out; For the multipath amplitude distribution measurement result of utilizing up-link to carry out, then import the emissive power of transfer table and the received power of base station;
Suppose that first footpath is non-visual route, whether the power in first footpath that relatively receives satisfies the decline relation under the non-visual route condition: whether its amplitude satisfies than the free space decline is lower than default threshold value, if satisfy, just is judged to non-visual route, otherwise, just be judged to visual route; Obtain the result of non-visual route identification.
In the application of reality, the method of this NLOS identification can have multiple, be one of them above, in the mobile station locating system of the employing array antenna that the present invention describes, can also adopt the fading characteristic in the first footpath on the different antennae unit on the array antenna (as four antenna elements among Fig. 1 .a) to realize NLOS identification.Concrete steps are as follows:
The first step: the power time delay of gathering respectively on each antenna element distributes;
Second step: the first footpath on the power time delay that detects each antenna element correspondence distributes also calculates the power or the amplitude in each first footpath;
The 3rd step: power or amplitude with each first footpath (as four first footpaths of four antenna element correspondences among Fig. 1 .a) are sample, calculate the sample coefficient of dispersion;
The 4th step: NLOS judgement.According to the size of sample coefficient of dispersion, determine between transfer table and the base station array antenna whether be the NLOS path.
Should determine NLOS route method, can adopt single decision threshold method, as, when the sample coefficient of dispersion greater than 0.2 the time, be judged to NLOS, when the sample coefficient of dispersion less than 0.2 the time, be judged to LOS.Also can adopt two decision thresholds to realize NLOS identification, as, when the sample coefficient of dispersion less than 0.1 the time, be judged to LOS, when the sample coefficient of dispersion is judged to accurate LOS less than 0.2 the time greater than 0.1, when the sample coefficient of dispersion is judged to NLOS greater than 0.2 the time.
Referring to Fig. 4, the basic step that the present invention directly screens is as follows:
The first step 401 reads the output that NLOS identification 203 goes on foot;
In second step 402, judge between radiation source and receiver, whether there is the LOS channel according to the NLOS recognition result; If between radiation source and receiver, there is the LOS channel, just carry out the multipath screening 406 of LOS channel, the method of LOS multipath screening 406 is: reject all footpaths outside the line of sight, only keep line of sight, the angle below this has just guaranteed is estimated only to carry out on line of sight;
The 3rd step 403, if between radiation source and receiver, there is not the LOS channel, just carry out 403 screen relative time delay according to multipath, reject the multipath that produces from radiation source reflecting body far away excessively or scatterer, as footpath greater than 500 meters;
The 4th step 404, screen according to the relative power of multipath, rejected the footpath of strong reflecting body or scatterer generation, as the footpath d among Fig. 1 .a;
Above screening step also will have one to judge whether the remaining multipath distribution spatially in screening back is that bilateral distributes.
Be judged as example with the distribution of the bilateral on the position angle and describe, the bilateral distribution determination methods on the angle of pitch is identical.In Fig. 1,, rejected excessive footpath e in relative time delay through screening 403 according to relative time delay; Through relative power screening 404, rejected the excessive footpath d of relative power again, only remaining footpath a, b, c.Judge footpath a, b, whether c is that the method that bilateral distributes is: drive receiver antenna enterprising line scanning in the orientation with phased mode or mechanical mode, make 3 footpath a that receive, b, the angle when the power sum of c reaches maximum is as the orientation angles estimated value α of radiation source.With the angle [alpha] is benchmark, make receiving antenna on the orientation, carry out disturbance with ± Δ α, observe the footpath b except that first footpath a, if the changes in amplitude of c is along with the antenna disturbance of ± Δ α, footpath b, the variable power of c is opposite, another reduces during i.e. increase, just shows footpath b, and c directly is that bilateral distributes on the orientation with respect to head; If along with the antenna disturbance of ± Δ α, footpath b, the variable power of c is identical, promptly one another also increases when increasing, one another also reduces when reducing, just show footpath b, c directly is one-sided distribution on the orientation with respect to head.It is to realize that angle do not have the prerequisite of inclined to one side estimation that bilateral distributes, and estimates to have inclined to one side based on the angle of the one-sided distribution of multipath, need add angle correction in angle is estimated.
Referring to Fig. 5, angle estimating method of the present invention is made up of following steps.
The first step 501 reads position and power through remaining footpath, screening back, footpath, reads the NLOS recognition result;
Second step 502 judged whether that LOS directly existed, if having, just entered based on the angle in LOS footpath and estimated 506, at 506 li, adopted electric scanning or mechanical scanning to seek the angle estimated value of the strongest angle in the LOS footpath of reception as radiation source;
In the 3rd step 503, whether be judged result that bilateral distribute, if bilateral distributes, just enter 505 processing if reading that diameter distributes, otherwise, enter 504 processing;
The 4th step 504 owing to be one-sided distribution, estimate to have based on the angle of barycenter principle inclined to one side, 504 remove finish estimate with 506 similarly basic angles, also to carry out the rectification of angle, angle estimation and antidote are seen step shown in Figure 6.
The 5th step 505, adopt the barycenter principle to carry out angle and estimate, just adopt electric scanning or mechanical scanning to seek remaining footpath power sum after the screening of reception, with the angle estimated value of the strongest angle as radiation source;
Referring to Fig. 6, angle correction may further comprise the steps:
The first step 601 at first adopts the method identical with 505 that the multipath of one-sided distribution is carried out angle and estimates, calculates the average signal interference ratio of maximum simultaneously;
In second step 602, the maximum average signal interference ratio that calculates according to the first step reads the distribution parameter of NLOS error;
In the 3rd step 603, utilize distribution parameter to ask for the NLOS error mean.The NLOS error profile is a geometric distributions, according to the type of 602 distribution parameters that obtain and probability density function, just can calculate the average of NLOS error, and this average is exactly the mean distance between radiation source physical location and scatterer barycenter;
The 4th step 604, angle correction.The angle that the first step 601 obtains is the angle of scatterer barycenter, the 3rd step 603 NLOS error means that obtain
Be the average of radiation source to the distance of scatterer barycenter.The barycenter of scatterer is to the average of the distance of receiver
Scater can be obtained by the average that deducts the NLOS error time of arrival from the radiation source to the receiver in (TOA) value, is the center of circle with the receiver, with
Scater is that radius is drawn circle, calculates chord length to be on this circle
The angle of string correspondence, this angle is exactly the angle correction amount that needs, and makes correction for direction to determine according to the situation of one-sided distribution.
The angle estimating method of inhibition multi-path influence of the present invention can solve existing DOA method of estimation, as ESPRIT, and the problem of descending inefficacy based on the angle estimating method of barycenter at complicated geographical environment (as urban environment), can under complicated geographical environment (as urban environment), obtain the estimated accuracy that satisfies actual needs to radiation source, the angle estimating method of the inhibition multi-path influence that the present invention provides, both be applicable to the angle estimation that cooperates target, be applicable to also that the angle of non-cooperation target was estimated; Both be applicable to Azimuth Estimation, also be applicable to angle of pitch estimation.
The above; only for the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (12)
1, a kind of angle estimating method that suppresses multi-path influence is used to estimate the radiation source angle, it is characterized in that may further comprise the steps:
1) carries out data acquisition, to obtain the power time delay distributed data of radiation source;
2) carry out judgement directly, identify position and power that effective diameter is gone up in the power time delay distribution;
3) carry out non-visual NLOS identification, utilize 2) whether the position in the footpath of step output and power information identify have line of sight to exist between radiation source and receiver;
4) carry out screening directly, comprising:
Read the result of non-visual NLOS identification;
Judge between radiation source and receiver, whether there is visual LOS channel according to non-visual NLOS recognition result;
If between radiation source and receiver, there is visual LOS channel, just carry out the multipath screening of LOS channel, reject all footpaths outside the line of sight, only keep line of sight;
If between radiation source and receiver, there is not visual LOS channel, just carry out screening relative time delay according to multipath, reject the multipath that produces from radiation source reflecting body far away or scatterer;
And screen according to the relative power of multipath, rejected the footpath that strong reflecting body or scatterer produce;
5) carry out angle and estimate,, determine corresponding angle estimating method according to the result and the footpath results of screening of non-visual NLOS identification.
2, the angle estimating method of inhibition multi-path influence as claimed in claim 1 is characterized in that: the step of this data acquisition is as follows:
1) at the base band of receiver or intermediate frequency or radio frequency part the emitter Signals that receives is gathered;
2) signal of being gathered is carried out coherent accumulation, improve the signal interference ratio of the power time delay distribution of radiation source to be measured.
3, the angle estimating method of inhibition multi-path influence as claimed in claim 2 is characterized in that: the step of this data acquisition is also carried out interference cancellation in signals collecting and coherent accumulation between two steps.
4, as the angle estimating method of claim 2 or 3 described inhibition multi-path influences, it is characterized in that: after coherent accumulation is finished, also can carry out noncoherent accumulation, the signal interference ratio that distributes with the power time delay of further raising radiation source to be measured.
5, the angle estimating method of inhibition multi-path influence as claimed in claim 1 is characterized in that the judgement in footpath may further comprise the steps:
1) determines a footpath decision rule;
2) fail to judge probability and void is as required declared probability and is determined a reasonably footpath decision threshold;
3) determine the position in footpath according to footpath decision rule and thresholding, and export the power in footpath.
6, the angle estimating method of inhibition multi-path influence as claimed in claim 5 is characterized in that described decision threshold, determines by following steps:
1) extracts ground unrest in real time;
2) according to the distribution pattern of ground unrest, as sample the distribution parameter of noise is estimated, utilized the distribution parameter that estimates to determine the concrete probability density function of ground unrest then with ground unrest;
3) probability density function of false alarm rate as requested and ground unrest is determined the detection threshold in footpath.
7, the angle estimating method of inhibition multi-path influence as claimed in claim 1 is characterized in that the basic step of non-visual NLOS identification is as follows:
At first import the measured value of multipath amplitude distribution, adjudicate according to the amplitude in first footpath then:
Obtain time of arrival the two-way time that reports according to system, for the multipath amplitude distribution measurement result of utilizing downlink to carry out, and the received power of input transfer table and the emissive power of base station; For the multipath amplitude distribution measurement result of utilizing up-link to carry out, then import the emissive power of transfer table and the received power of base station;
Suppose that first footpath is non-visual route, whether the power in first footpath that relatively receives satisfies the decline relation under the non-visual route condition: whether its amplitude satisfies than the free space decline is lower than default threshold value, if satisfy, just is judged to non-visual route, otherwise, just be judged to visual route; Receive the result of non-visual route identification.
8, the angle estimating method of inhibition multi-path influence as claimed in claim 1 is characterized in that also will judging whether the remaining multipath distribution spatially in screening back is that bilateral distributes.
9, the angle estimating method of inhibition multi-path influence as claimed in claim 8 is characterized in that the step of angle estimation is as follows:
1) reads position and the power that screens remaining footpath, back through the footpath, read non-visual NLOS recognition result;
2) judged whether that visual LOS directly exists,, just entered based on the angle in visual LOS footpath and estimate, adopted electric scanning or mechanical scanning to seek the angle estimated value of the strongest angle in the visual LOS footpath of reception as radiation source if having;
3) whether if judge do not have visual LOS directly to exist, then reading the diameter distribution is the judged result that bilateral distributes, if bilateral distributes, then adopts the barycenter principle to carry out angle and estimates; If one-sided distribution is carried out estimating based on the angle of the one-sided distribution of multipath.
10, the angle estimating method of inhibition multi-path influence as claimed in claim 9 is characterized in that also carrying out angle correction when the footpath is one-sided distribution, and step is as follows:
1) at first adopts the angle that distributes based on multipath estimation bilateral to estimate the multipath of one-sided distribution is carried out the angle estimation, calculate maximum average signal interference ratio simultaneously;
2) the maximum average signal interference ratio that goes out according to aforementioned calculation reads the distribution parameter of non-visual NLOS error;
3) utilize distribution parameter to ask for non-visual NLOS error mean;
4) angle correction, the above-mentioned non-visual NLOS error mean that obtains
Be the average of radiation source to the distance of scatterer barycenter, the barycenter of scatterer is to the average of the distance of receiver
Scater can be obtained by the average that deducts non-visual NLOS error the time of arrival from the radiation source to the receiver in the TOA value, is the center of circle with the receiver, with
Scater is that radius is drawn circle, calculates chord length to be on this circle
The angle of string correspondence, this angle is exactly the angle correction amount that needs, and makes correction for direction to determine according to the situation of one-sided distribution.
11, the angle estimating method of inhibition multi-path influence as claimed in claim 1 is characterized in that the basic step of non-visual NLOS identification is as follows:
1) power time delay of gathering respectively on each antenna element distributes;
2) the first footpath on the power time delay that detects each antenna element correspondence distributes also calculates the power or the amplitude in each first footpath;
3) power or the amplitude with each first footpath is sample, calculates the sample coefficient of dispersion;
4) non-visual NLOS judgement:, determine between transfer table and the base station array antenna whether be non-visual NLOS path according to the size of sample coefficient of dispersion.
12, the angle estimating method of inhibition multi-path influence as claimed in claim 11 is characterized in that described non-visual NLOS identification, can adopt the mode of single decision threshold, also can adopt the mode of two decision thresholds.
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| JP4623027B2 (en) * | 2007-03-06 | 2011-02-02 | 三菱電機株式会社 | Ranging device, positioning device, ranging method and positioning method |
| CN102768310B (en) * | 2012-08-02 | 2014-09-03 | 西北工业大学 | Method for eliminating multipath interference in antenna test environment by adopting distance offset technology |
| CN102768309B (en) * | 2012-08-02 | 2014-08-20 | 西北工业大学 | Method for eliminating multipath interference in antenna testing environment by adopting frequency difference technology |
| CN104581935B (en) * | 2013-10-25 | 2018-09-07 | 中兴通讯股份有限公司 | Based on empty anchor point wireless location method, device and terminal |
| CN104579511B (en) * | 2015-01-05 | 2017-05-10 | 电子科技大学 | Method for obtaining array antenna receiving signal power error range |
| WO2018121438A1 (en) * | 2016-12-26 | 2018-07-05 | 华为技术有限公司 | Method for recognizing line-of-sight path, and wireless device |
| CN106950528B (en) * | 2017-03-24 | 2019-12-10 | 杭州电子科技大学 | direction-of-arrival estimation method based on linear frequency modulation signals |
| CN108776326B (en) * | 2018-04-13 | 2022-04-05 | 北京邮电大学 | Multipath effect suppression method, device and equipment |
| CN110392387B (en) * | 2018-04-23 | 2021-05-18 | 华为技术有限公司 | Method and apparatus for angle measurement of wireless signals |
| CN108646213B (en) * | 2018-05-09 | 2021-05-14 | 华南理工大学 | Direct wave AOA (automatic optical inspection) judgment method in indoor multipath environment |
| CN109001768B (en) * | 2018-07-31 | 2022-09-13 | 太原理工大学 | Improved dual-polarization sequential ML multipath suppression method applied to antenna |
| CN111308521B (en) * | 2018-12-12 | 2022-03-04 | 北京紫光展锐通信技术有限公司 | Code phase estimation and pseudo-range measurement method and device of GNSS (Global navigation satellite System), and terminal |
| CN109934031B (en) * | 2019-03-20 | 2021-09-21 | 中南大学 | LOS/NLOS distinguishing method and system based on RFID system |
| CN112399554A (en) * | 2019-08-15 | 2021-02-23 | 华为技术有限公司 | Positioning method and device thereof |
| CN114460578B (en) * | 2022-02-11 | 2023-01-10 | 北京博识广联科技有限公司 | Radiation source screening method based on multi-dimensional signals |
| CN115988629B (en) * | 2023-03-13 | 2023-06-27 | 新华三技术有限公司 | Timing estimation method, apparatus, device and readable storage medium |
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