JP5311496B2 - Position estimation system and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position estimation system and a program capable of improving position estimation accuracy, without increasing the number of elements of sub-array antennas, and reducing the cost and device size, concerning the position estimation system and the program for estimating the position of a signal source based on AOA (angle of arrival) estimation in a plurality of sub-arrays. <P>SOLUTION: Initial estimation of an approximate position of a signal source is performed, based on AOA estimation in each sub-array, and each received signal is subjected to phase correction and synchronized in each sub-array based on a distance from the signal source to each sub-array; each signal from the plurality of sub-arrays is used in common; and AOA is updated based on its correlation matrix and the estimated position is updated. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a position estimation system and program for estimating the position of a signal source based on AOA (Angle of Arrival) estimation in a plurality of subarrays (actual array antennas), and in particular, without increasing the number of antenna elements of the subarrays. The present invention relates to a position estimation system and program for improving position estimation accuracy and achieving cost reduction and apparatus size reduction.

  In the conventional position estimation system using AOA, it is necessary to increase the number of antenna elements in order to improve the position estimation accuracy, and the array antenna used in the receiver becomes large. (For example, refer nonpatent literature 1.).

S. Zhilong et al., "Precise localization with smart antennas in Ad-Hoc networks", IEEE Globecom Conf., Pp. 1053-1057, Nov. 2007

  In the position estimation system and program for estimating the position of a signal source based on AOA estimation in a plurality of subarrays in view of the above problems, the present invention improves the position estimation accuracy without increasing the number of antenna elements in the subarray, It is an object of the present invention to provide a position estimation system and program that achieves cost reduction and apparatus size reduction.

  The position estimation system of the present invention receives signals from antenna elements of a plurality of array antennas (hereinafter referred to as “sub-arrays”) that are installed apart from each other, and positions of the sub-arrays. First direction-of-arrival estimation means for estimating the direction of arrival of radio waves from the signal source, and first position estimation means for estimating the position of the signal source based on each direction of arrival estimated by the first direction-of-arrival estimation means And synchronizing the signal from the first antenna element, which is one of the antenna elements of each subarray, based on the distance between the position of the signal source estimated by the first position estimating means and the position of each subarray. A plurality of subarrays sharing a signal synchronizing means for correcting the phase of each of the signals and signals of other subarrays synchronized by the signal synchronizing means. Data sharing means for creating a matrix having each signal as a component, using the signal as a signal from one virtual array antenna; correlation matrix computing means for computing a correlation matrix of the matrix created by the data sharing means; and Based on the correlation matrix calculated by the correlation matrix calculation means, second arrival direction estimation means for estimating the arrival direction of the radio wave from the signal source at each subarray position, and the second arrival direction estimation means And second position estimating means for estimating the position of the signal source based on each direction of arrival.

  Further, the signal synchronization means, data sharing means, correlation matrix calculation means, second arrival direction estimation means and second position estimation means are repeatedly executed a predetermined number of times to estimate the final position of the signal source. The estimation accuracy can be increased.

  Further, the data sharing means creates a matrix using a signal from one of the antenna elements of the other sub-array as a first component of the matrix, thereby effectively using the shared data and increasing the position estimation accuracy. be able to.

  Further, the second direction-of-arrival estimating means divides a wideband signal into bands, frequency-converts a signal subspace of one frequency to another frequency, and tests the next matrix Z, thereby improving the position estimation accuracy. can do.

（１）
ここで、Ｕkは周波数変換された信号部分空間、Ｗkは各周波数の相関行列から得られる周波数変換された雑音部分空間である。

(1)
Here, Uk is a frequency-converted signal subspace, and Wk is a frequency-converted noise subspace obtained from the correlation matrix of each frequency.

  Further, the second arrival direction estimation means expands the correlation matrix by eigenvalue expansion and obtains a peak of a MUSIC (Multiple Signal Classification) spectrum based on an orthogonal matrix including the eigenvalue of the obtained noise subspace. The position estimation accuracy can be increased by estimating the arrival direction of.

  Moreover, this invention is a program for functioning a computer as said position estimation system.

  According to the present invention, in a position estimation system and program for estimating the position of a signal source based on AOA estimation in a plurality of subarrays, the position estimation accuracy can be improved without increasing the number of elements of the antennas of the subarrays, and the cost can be reduced. A reduction in size can be achieved.

It is a figure explaining the environment which uses the position estimation system by one Example of this invention. It is a flowchart which shows the functional operation | movement of the position estimation system by one Example of this invention. It is a figure explaining the environment which simulated the position estimation characteristic of the position estimation system by one Example of this invention. It is a figure which shows the result of having simulated the estimation precision by changing the construction method of a virtual array. It is a figure which shows the result of having simulated the estimation accuracy of a prior art example and a present Example. It is a figure which shows the result of having simulated the probability distribution of the position estimation error of a prior art example and a present Example.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a diagram illustrating an environment in which a position estimation system according to an embodiment of the present invention is used. Subarray 1 and subarray 2 that are actual array antennas each have three antenna elements, receive radio waves from a signal source, and estimate their arrival directions θ ^ 1 and θ ^ 2. Here, “^” represents that “^” is put on the left character in the sentence. If the phase center point of the sub-array k is (xk, yk) and the position of the signal source is (x ^, y ^), the following two linear expressions can be written.

（２）
式（２）から、信号源の位置（ｘ＾,ｙ＾）は次のように求められる。

(2)
From the equation (2), the position (x ^, y ^) of the signal source is obtained as follows.

（３）

(3)

  When there are three or more subarrays, one point is obtained based on the center of gravity of the intersection of a plurality of straight lines.

  FIG. 2 is a flowchart showing the functional operation of the position estimation system according to one embodiment of the present invention. First, in each subarray, the arrival direction of the signal source is estimated by an actual array antenna (step S1). Here, an example in which estimation is performed by a MUSIC (Multiple Signal Classification) method will be described. Assuming L narrowband signals, the reception model of the M element array antenna at time t can be expressed as follows.

（４）
ここで、Ａ→(θ)はＭ×Ｌのステアリング行列で、ステアリングベクトルａ→(θ)から構成される。ここで「→」は文章中において、その左の文字がベクトル又は行列であることを表す。各サブアレーが素子間隔ｄの等間隔直線アレーで構成されているとき、ａ→(θ)＝［ａ1(θ),ａ2(θ),・・・,ａM(θ)］^Tの成分であるアレー応答は

(4)
Here, A → (θ) is an M × L steering matrix and is composed of a steering vector a → (θ). Here, “→” indicates that the left character in the sentence is a vector or a matrix. When each sub-array is composed of an equidistant linear array with an element spacing d, an array that is a component of a → (θ) = [a1 (θ), a2 (θ),..., AM (θ)] ^T The response is

（５）
と表される。ただし、［・］^Tは転置、Ｓ→(ｔ)はＬ×１の信号波形ベクトル、Ｎ→(ｔ)はＭ×１の雑音ベクトルである。Ｎはスナップショット数であり、相関行列は次のように推定される。

(5)
It is expressed. However, [•] ^T is a transposition, S → (t) is an L × 1 signal waveform vector, and N → (t) is an M × 1 noise vector. N is the number of snapshots, and the correlation matrix is estimated as follows.

（６）
ただし、［・］^Hはエルミート転置である。これを固有値展開すると、

(6)
However, [•] ^H is Hermitian transpose. When this is expanded into eigenvalues,

（７）
ここで、Λ→＾S、Λ→＾NはＲ→＾の信号部分空間、雑音部分空間の固有値を含む対角行列、Ｅ→＾S、Ｅ→＾Nはそれぞれの固有値に対応する固有ベクトルを含む直交行列である。

(7)
Here, Λ → ^ S and Λ → ^ N are diagonal matrices including eigenvalues of the signal subspace and noise subspace of R → ^, and E → ^ S and E → ^ N are eigenvectors corresponding to the respective eigenvalues. It is an orthogonal matrix containing.

  Once the noise subspace is estimated, the AOA can be estimated by looking for the peak of the MUSIC spectrum given by the following equation.

（８）

(8)

  By estimating the arrival directions θ ^ 1 and θ ^ 2 of the radio waves in the sub-arrays 1 and 2, the position (x ^, y ^) of the signal source can be estimated by the expression (3) (step S2). .

  In the present embodiment, the position estimation is performed by repeatedly using the received signals of a plurality of subarrays by repeated AOA estimation. First, a rough signal source position is estimated by initial estimation, and the position is updated by update estimation. As shown in FIG. 1, consider virtual arrays 1 and 2 for two subarrays 1 and 2. Each of the virtual arrays 1 and 2 is composed of its own subarray elements 1 and 2 and another subarray element 2 and 1 at a distant position.

  The reception signal of the M element subarray at time t is expressed as follows.

（９）
ここで、Ｘ→k(ｔ)、Ａ→k(ｔ)、Ｎ→k(ｔ)はそれぞれ、サブアレーｋの受信信号、ステアリング行列、雑音ベクトルである。アレーの参照点を信号源の位置とすると、仮想アレーｋにおけるアレー応答は

(9)
Here, X.fwdarw.k (t), A.fwdarw.k (t), and N.fwdarw.k (t) are the received signal, steering matrix, and noise vector of subarray k, respectively. If the reference point of the array is the position of the signal source, the array response in the virtual array k is

（１０）
と表せる。ここで、

(10)
It can be expressed. here,

（１１）
である。ａm(θ)は仮想アレーｋのアレー応答を表し、ｂ(ｒk)は信号源から仮想アレーｋまでの位相差を表している。このため、本実施例では、仮想アレー１の第１素子と、仮想アレー２の第１素子における受信信号の位相を揃えるように位相補正して、信号の同期を取る（ステップＳ３）。その上で、２つのサブアレーの受信信号を共有する（ステップＳ４）。

(11)
It is. am (θ) represents the array response of the virtual array k, and b (rk) represents the phase difference from the signal source to the virtual array k. For this reason, in this embodiment, phase correction is performed so that the phases of the received signals in the first element of the virtual array 1 and the first element of the virtual array 2 are aligned, and the signals are synchronized (step S3). Then, the received signals of the two subarrays are shared (step S4).

（１２）

(12)

  Each sub-array calculates a new correlation matrix from the newly configured received signal (step S5).

（１３）
さらに、ｎ回目の更新における仮想アレーｋのアレー応答を、次のように表す。

(13)
Furthermore, the array response of the virtual array k in the n-th update is expressed as follows.

（１４）
ここで、(１／ｒ＾k)は信号源とサブアレーｋの間の信号減衰である。式（１４）においてθはスペクトルを走査する変数であるが、θ＾2^(n-1)は定数である。Ｕ→＾NをＲ→＾vの雑音部分空間、ｖ¹⁽ⁿ⁾→(θ)＝［ｖ¹⁽ⁿ⁾1(θ),ｖ¹⁽ⁿ⁾2(θ),・・・,ｖ¹⁽ⁿ⁾2M(θ)］をｎ回目の更新におけるステアリングベクトルとすると、仮想アレー１でのＭＵＳＩＣスペクトルは、次式で与えられる。

(14)
Here, (1 / r ^ k) is signal attenuation between the signal source and the subarray k. In equation (14), θ is a variable for scanning the spectrum, but θ ^ 2 ^(n-1) is a constant. U → ^ N is a noise subspace of R → ^ v, v ^{1 (n)} → (θ) = [v ^{1 (n)} 1 (θ), v ^{1 (n)} 2 (θ),. Assuming that ^{1 (n)} 2M (θ)] is the steering vector in the n-th update, the MUSIC spectrum in the virtual array 1 is given by the following equation.

（１５）
同様に仮想アレー２におけるＭＵＳＩＣスペクトルは、次式で与えられる。

(15)
Similarly, the MUSIC spectrum in the virtual array 2 is given by the following equation.

（１６）
ここで、各仮想アレーで利用する受信サンプルＸ→v(ｔ)は同じなので、雑音部分空間Ｕ→＾Nも同一である。式（１５）、（１６）から、新しいＡＯＡとしてθ＾⁽ⁿ⁾1、θ＾⁽ⁿ⁾2が得られ（ステップＳ６）、式（３）によって信号源の位置を推定する（ステップＳ７）。本実施例では、この更新推定を繰り返し行うことでＡＯＡを更新し、信号源の位置を更新し（ステップＳ８）、信号源の 推定座標を出力する（ステップＳ９）。

(16)
Here, since the received samples X → v (t) used in each virtual array are the same, the noise subspace U → ^ N is also the same. From equations (15) and (16), θ ^ ⁽ⁿ⁾ 1 and θ ^ ⁽ⁿ⁾ 2 are obtained as new AOAs (step S6), and the position of the signal source is estimated by equation (3) (step S7). . In the present embodiment, the AOA is updated by repeatedly performing this update estimation, the position of the signal source is updated (step S8), and the estimated coordinates of the signal source are output (step S9).

  FIG. 3 is a diagram illustrating an environment in which the position estimation characteristics of the position estimation system according to an embodiment of the present invention are simulated. In the simulation of position estimation characteristics, it is assumed that the signal source and each subarray are arranged as shown in FIG. The frequency used for the signal source is a single frequency, and the number of snapshots is N = 100. Each sub-array is an equally spaced linear array with an element spacing d = λ / 2, and the number of simulations executed is 10,000.

  FIG. 4 is a diagram illustrating a result of simulating the estimation accuracy by changing the configuration method of the virtual array. The estimation accuracy was simulated by changing the configuration method of the virtual array as shown in Table 1.

例えば、構成方法１は、仮想アレーの第１素子である基準素子をサブアレー１の素子としたものである。結果は図４に、更新回数対ＲＭＳＥ（Root Mean Square Errors、単位λ：波長）として示され、仮想アレー１、２共に仮想素子を基準素子とする構成方法４によって、推定精度を高くすることができることが分かった。これは参照点となる第１素子のアレー応答ｖ^k1(θ)を定数とする選択によって精度が高くなるものと考えられる。

For example, in the configuration method 1, the reference element, which is the first element of the virtual array, is used as the element of the subarray 1. The results are shown in FIG. 4 as the number of update times versus RMSE (Root Mean Square Errors, unit λ: wavelength), and both the virtual arrays 1 and 2 can increase the estimation accuracy by the configuration method 4 using the virtual element as a reference element. I understood that I could do it. This is considered to increase the accuracy by selecting the array response v ^k 1 (θ) of the first element as a reference point as a constant.

FIG. 5 is a diagram showing the result of simulating the estimation accuracy of the conventional example and this example. From the result of FIG. 4, the present Example used the construction method 4, that is, the virtual element as the reference element. The number of updates was fixed at 5 times. The subarrays used and the number of elements are as follows with reference to FIG.
Conventional Example 1: 3-element subarrays 1 and 2
Conventional example 2: 6-element subarrays 1 and 2
Conventional Example 3: 3-element subarray 1, 2, 3, 4
Conventional Example 4: 6-element subarray 1, 2, 3, 4
The present invention: 3-element subarrays 1 and 2
The results are shown in FIG. 5 as SNR (Signal-to-Noise Ratio: Unit dB) vs. RMSE (Unit: λ: Wavelength). While this example is a three-element two-subarray, the three-element four-subarray of Conventional Example 3 is used. The estimation accuracy was higher than that of the conventional example 2 and the estimation accuracy comparable to that of the 6-element 2-subarray of Conventional Example 2 was obtained. At low SNR (0 dB or less), the estimation accuracy is deteriorated as compared with Conventional Example 2, but it is considered that if the initial estimation accuracy is poor, appropriate data sharing cannot be performed. When the SNR increases, an estimation accuracy equal to or higher than that of the conventional method 2 is obtained. This is considered to be because data can be shared more accurately and the variance of the AOA estimation error is reduced.

  FIG. 6 is a diagram showing the result of simulating the probability distribution of the position estimation error between the conventional example and the present embodiment. The result is shown as a distance error (unit λ: wavelength) that is a position estimation error for each wavelength versus PDF (Probability Density Function), and this example has the highest probability of small error, and the update estimation It can be seen that the accuracy is greatly improved.

In addition, this invention is not limited to the said Example.
There may be more than two subarrays.

As a method of direction of arrival estimation, ESPRIT (Estimation of
Signal Parameters via Rotational Invariance Techniques) or TOPS (Test of Orthogonality of Projected Subspace) may be used.

  In conventional TOPS, a wideband signal is divided into bands, a signal subspace of one frequency is frequency-converted to another frequency, and the following matrix D is tested.

（１７）
ここで、Ｕkは周波数変換された信号部分空間、Ｗkは各周波数の相関行列から得られる周波数変換された雑音部分空間である。この行列Ｄ→はθが所望の到来方向であるときランクが減少する。この行列Ｄ→のランクの減少を利用して到来方向推定を行う。

(17)
Here, Uk is a frequency-converted signal subspace, and Wk is a frequency-converted noise subspace obtained from the correlation matrix of each frequency. The rank of this matrix D → decreases when θ is the desired direction of arrival. Direction-of-arrival estimation is performed using the rank reduction of the matrix D →.

  On the other hand, the following matrix Z → is tested.

（１８）
この行列Ｚ→はφが所望の到来方向であるとき、部分行列の行と列が０に近づく。しかし従来のＴＯＰＳでは、部分行列の行しか０に近づかない。そのため、従来のＴＯＰＳよりも直交性の検定精度が上がり、この改善ＴＯＰＳでは分解能が低、中ＳＮＲで改善される。

(18)
In this matrix Z →, when φ is the desired direction of arrival, the rows and columns of the submatrix approach zero. However, in the conventional TOPS, only the row of the submatrix approaches 0. For this reason, the accuracy of the orthogonality test is improved as compared with the conventional TOPS, and the improved TOPS has a low resolution and an improved medium SNR.

  Note that the position estimation system of the present invention is also realized by a program for causing a computer to function as the position estimation system. This program may be stored in a computer-readable recording medium.

  The recording medium on which the program is recorded may be the ROM itself in the system, or a program reading device such as a CD-ROM drive is provided as an external storage device, and the program is read by inserting the recording medium therein. A possible CD-ROM or the like may be used.

The recording medium may be a magnetic tape, a cassette tape, a flexible disk, a hard disk, an MO / MD / DVD, or a semiconductor memory.

Claims (6)

Receives signals from each antenna element of a plurality of array antennas (hereinafter referred to as “sub-arrays”) installed at a distance, and the arrival of radio waves from the signal source at the position of each sub-array First direction-of-arrival estimation means for estimating a direction;
First position estimating means for estimating the position of the signal source based on each direction of arrival estimated by the first direction of arrival estimating means;
Based on the distance between the position of the signal source estimated by the first position estimating means and the position of each subarray, to synchronize the signal from the first antenna element that is one of the antenna elements of each subarray. Signal synchronization means for correcting the phase of each of the signals;
Data sharing means for creating a matrix having each signal as a component by sharing signals from other subarrays synchronized by the signal synchronization means and using signals from a plurality of subarrays as signals from one virtual array antenna When,
Correlation matrix computing means for computing the correlation matrix of the matrix created by the data sharing means;
Second arrival direction estimation means for estimating the arrival direction of radio waves from the signal source at the position of each sub-array based on the correlation matrix calculated by the correlation matrix calculation means;
A position estimation system comprising: second position estimation means for estimating the position of the signal source based on each arrival direction estimated by the second arrival direction estimation means.   The final position of the signal source is estimated by repeatedly executing the signal synchronization means, data sharing means, correlation matrix calculation means, second arrival direction estimation means and second position estimation means a predetermined number of times. Item 1. The position estimation system according to Item 1.   3. The position estimation system according to claim 1, wherein the data sharing unit creates a matrix using a signal from one of the antenna elements of the other sub-array as a first component of the matrix. 4. The second arrival direction estimating means divides a wideband signal into bands, frequency-converts a signal subspace of one frequency to another frequency, and tests the next matrix Z. The position estimation system in any one.

(19)
Here, Uk is a frequency-converted signal subspace, and Wk is a frequency-converted noise subspace obtained from the correlation matrix of each frequency.   The second arrival direction estimation means expands the correlation matrix by eigenvalues and obtains a peak of a MUSIC (Multiple Signal Classification) spectrum based on an orthogonal matrix including eigenvalues of the obtained noise subspace. The position estimation system according to claim 1, wherein a direction is estimated. The program for functioning a computer as a position estimation system in any one of Claims 1 thru | or 5.

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