WO2005001504A1 - 電波到来方向推定方法及び装置 - Google Patents
電波到来方向推定方法及び装置 Download PDFInfo
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- WO2005001504A1 WO2005001504A1 PCT/JP2003/008015 JP0308015W WO2005001504A1 WO 2005001504 A1 WO2005001504 A1 WO 2005001504A1 JP 0308015 W JP0308015 W JP 0308015W WO 2005001504 A1 WO2005001504 A1 WO 2005001504A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
- G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/74—Multi-channel systems specially adapted for direction-finding, i.e. having a single antenna system capable of giving simultaneous indications of the directions of different signals
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- 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
- H04B7/08—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station
- H04B7/0837—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station using pre-detection combining
- H04B7/0842—Weighted combining
- H04B7/086—Weighted combining using weights depending on external parameters, e.g. direction of arrival [DOA], predetermined weights or beamforming
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
- G06F2218/22—Source localisation; Inverse modelling
Definitions
- the present invention relates to a method and an apparatus for estimating the direction of arrival of a base station that accurately estimates the direction of arrival of a radio wave using an array antenna, and in particular, effectively uses the direction of arrival of a plurality of periodic stationary signals without using complicated eigen decomposition.
- the present invention relates to a radio wave arrival direction estimating method and apparatus capable of estimating a time-varying radio wave arrival direction at high speed and accurately online.
- An array antenna is a name for an antenna in which a plurality of antenna elements are arranged at different spatial positions in a certain shape.
- the problem of estimating the direction of arrival of the wave incident on the array antenna (hereinafter sometimes referred to as signal from the viewpoint of signal processing) is considered to be one of the important elemental technologies of the adaptive array antenna.
- signal from the viewpoint of signal processing is considered to be one of the important elemental technologies of the adaptive array antenna.
- a subspace-based method using the orthogonality of the signal subspace and the noise subspace is well known from the standpoint of estimation accuracy and computational complexity.
- Conventional subspace methods include eigenvalue decomposition (Eigenvalue decomposition) or singular value decomposition (SVD) of the array covariance matrix to obtain the signal (or noise) subspace. Requires processing.
- a signal from a caller enters a base station array antenna via a direct path and a reflection path due to reflection from a building or the like. Therefore, the problem of estimating the direction of arrival of multiple waves in a multipath propagation environment is very important.
- the present invention relates to the problem of estimating the time-varying direction of arrival of a multiwave having a cyclostationarity. We propose a new estimation method that does not use smoothing and reduces the amount of calculation. We also propose an online method that tracks the time-of-arrival direction of arrival. Background art
- a subspace-lDased method with spatial smoothing is well known.
- a typical example is Spatial smoothing based MUSIC (References 2 and 3).
- Cyclic MUSIC (Ref. 4) for estimating the arrival direction of uncorrelated signals
- Cyclic spatial for estimating the arrival direction of multiple waves
- the smoothing-based MUSIC (Ref. 5) is well known.
- the subspace method for estimating the direction of arrival of an uncorrelated signal calculates a periodic array covariance matrix from the signal incident on the array antenna.
- the eigenvalue decomposition (or singular value decomposition) of the periodic covariance matrix allows the signal subspace and noise to be calculated. Get subspace. Then, the arrival direction of the signal is estimated using the orthogonality between the signal subspace and the noise subspace.
- a spatial smoothing MUSIC (Ref. 2) for estimating the direction of arrival of a multiplex wave will be briefly described as a typical example.
- f c , c and d are the carrier frequency, propagation velocity and element spacing (half wavelength).
- ⁇ represents transpose
- e ( 0k ) is the array response vector and response matrix.
- wi ⁇ ) is white Gaussian noise with an average of 0 and power ⁇ 2 independent of each element.
- the q incident waves are multiwaves with perfect correlation, and these signals have more cyclostationarity at the periodic frequency ⁇ .
- a signal having the periodic frequency ⁇ is called a desired signal.
- the q desired signals are uncorrelated with other incident signals and additive noise at the periodic frequency ⁇ .
- the relationship between the direct wave and the reflected wave of the q multiplexed waves is
- the rank of is not q but 1. Therefore, the dimension of the signal subspace of the covariance matrix is not equal to the number of incident and desired signals, and the direction of arrival of the signal can be accurately estimated from i? Becomes impossible.
- Spatial smoothing MUSIC estimates the direction of arrival ⁇ 0 ⁇ , '- ⁇ , ⁇ q ⁇ of a multi-wave with perfect correlation. Therefore, as shown in Fig. 1, m entire linearly spaced arrays (q + l ⁇ m ⁇ M) into L overlapping sub-arrays (Overlapped subarrays).
- w and i are called the size of the sub-array and the number of sub-arrays. M—m + 1.
- the reception vector x, (n) of the Z-th subarray can be expressed by Eq. (4).
- ei and ⁇ ⁇ are the eigenvectors and eigenvalues of the matrix ⁇ , is a matrix with ⁇ ei ⁇ as columns, and ⁇ is a diagonal matrix with ⁇ i ⁇ as elements.
- torr ⁇ ei, e 2 e q ⁇ is referred to as a noise vector ⁇ e q + 1 e q + 2 ⁇ ⁇ ⁇ e m ⁇ , respectively space spanned by the signal subspace and the noise subspace.
- the signal subspace It can be expressed using the response vector of the array.
- the method of estimating the direction of arrival based on the orthogonal relationship between the signal subspace and the noise subspace is called the subspace method.
- flm (S) [1, exp (jwo ⁇ ( ⁇ ), ⁇ , exp (jw 0 (m -1) ⁇ ( ⁇ ))] ⁇
- the spatial smoothing MUSIC is The direction of arrival of the incoming signal is estimated from the position of the q largest peak in the spectrum given by Eq. (9).
- the subspace method for estimating the direction of arrival uses the eigenvalue decomposition of the array covariance matrix to obtain the signal subspace or the noise subspace.
- eigenvalue decomposition or singular value decomposition
- the practical application of the subspace DOA estimation method based on the conventional eigen-decomposition is limited by the eigen-decomposition that is a computational burden.
- Another disadvantage is that the desired signal and the interference signal cannot be distinguished. For this reason, when there are many incident waves, the number of elements of the array antenna must be increased to calculate all directions of arrival, and the size and cost of the array antenna increase.
- Reference 3 SU Pillai and BH Kwon, "Forward / backward spatial smoothing techniques for coherent signals identification” IEEE Trans. Acoust., Speech, Signal Processings vol. 37, no.1, p. 8 "15, 989
- Reference 4 WA Gardner, "Simplification of MUSIC and E SPRIT by exploitation of cyclostationary>” Proc. IEEE, vol. 76, no. 7, pp. 845-847 (1988)
- an object of the present invention is to provide a new radio wave direction-of-arrival estimation method and apparatus that utilizes the periodicity of a modulated wave and does not use complicated eigendecomposition to reduce the amount of calculation.
- Another object of the present invention is to provide a radio wave arrival direction estimating method and apparatus capable of tracking a time-varying radio wave arrival direction online. Disclosure of the invention
- a periodic correlation matrix in which the periodic correlation with the received signal is arranged in a matrix is created, the periodic correlation matrix is separated into two upper and lower periodic correlation matrices, and a linear operation is performed on the two upper and lower periodic correlation matrices to perform a noise subspace.
- the present invention provides a method and an apparatus for: (1) receiving a reception signal of each antenna element in the L forward sub-arrays at the current time and the predetermined antenna; It is calculated by combining a periodic correlation matrix in which the periodic correlation with the received signal of the element is arranged in a matrix and a matrix in which the periodic correlation matrix at the previous time is multiplied by a forgetting factor, and the periodic correlation matrix at the current time is calculated. Estimate the arrival direction of a time-varying cyclostationary signal by separating it into two upper and lower periodic correlation matrices.
- a bi-directional sub-array may be obtained.
- the signal transmitted from the signal source is a periodic stationary multiwave signal, a partially correlated periodic stationary signal, or an uncorrelated periodic stationary signal.
- the first aspect it is possible to estimate a new direction of arrival of a radio wave with a reduced amount of computation without utilizing complicated eigendecomposition by utilizing the cyclic stationarity of a modulated wave.
- the periodic array covariance matrix of the MXM is calculated using the received signals of each antenna element of the array antenna arranged, and when the number of multiplexed signals is q, the periodic array covariance matrix is represented by q XM and (M— (i) XM is divided into two upper and lower child matrices, a linear operation is performed on the two upper and lower child matrices to calculate an orthogonal projection operator in the noise subspace, and the spatial projection with the direction as a variable using the orthogonal projection operator A vector or polynomial is derived, and the directions of arrival of q signals are estimated from these.
- the third aspect it is possible to estimate the arrival direction of an uncorrelated periodic stationary signal or a partially correlated periodic stationary signal using an array antenna arranged in an arbitrary shape, even if it is not an evenly spaced linear array antenna. it can.
- the arrival direction estimation method and apparatus provide a base station receiving apparatus in combination with a beam forming means (reception beam former) for generating a reception beam such that a peak is directed in the estimated direction. It can be realized.
- the arrival direction estimating methods and apparatuses according to the first to third aspects provide a base station transmitting apparatus in combination with a beam forming means (transmitting beamformer) for generating a beam so that a peak is directed in the estimated direction. Can be realized.
- FIG. 1 is an explanatory diagram of a generalized sub-array in a linearly-spaced array.
- FIG. 2 is a diagram illustrating the arrangement of a transmission source and a base station receiving antenna.
- FIG. 3 is a block diagram showing the configuration of the signal arrival direction estimation system of the present invention.
- FIG. 4 is a block diagram showing the operation of the signal arrival direction estimating unit according to the first embodiment of the present invention.
- FIG. 5 is an explanatory diagram of a forward sub-array in the linear equally-spaced array of the present invention.
- FIG. 6 is an explanatory diagram of a backward sub-array in the linear equally-spaced array of the present invention.
- FIG. 7 is a numerical example showing the estimation performance of the direction of arrival of a multiplex wave based on the present invention with respect to the signal-to-noise ratio (SNR).
- SNR signal-to-noise ratio
- FIG. 8 is a block diagram showing an operation of the arrival direction estimating unit of the second embodiment that tracks a time-varying arrival direction.
- FIG. 9 is a first numerical example showing the tracking estimation performance in the direction of arrival of a multiplex wave based on the present invention.
- FIG. 10 is a second numerical example showing the tracking estimation performance in the direction of arrival of a multiplex wave based on the present invention.
- FIG. 11 is a configuration diagram of a base station receiving apparatus including the DOA estimating and receiving beamformer of the present invention.
- FIG. 12 is a configuration diagram of a base station transmitting apparatus equipped with the DOA estimation and transmission beamformer of the present invention.
- the first embodiment is a method and an apparatus for estimating the direction of arrival of a base station that accurately estimates the direction of arrival of a radio wave using an array antenna when the signal source is stationary.
- the estimation control will be described.
- the same reference numerals are given to substantially the same components or components having the same functions.
- FIG. 1 is a configuration diagram of an array antenna in which M antenna elements are linearly arranged at a distance d.
- FIG. 2 is a layout diagram of a transmission source 10 and a base station receiving antenna (array antenna) 30.
- the array antenna 30 has an evenly spaced linear array antenna configuration as shown in FIG. 1, and forms a multiplexed wave arrival direction estimation system.
- the one that immediately enters the array antenna 30 from the source 10 is the direct wave 11
- the one that enters the array antenna 30 after being reflected by the buildings BL1 and BL2 is the reflected wave 12.
- FIG. 2 shows two reflected waves as an example.
- the total number of direct waves and reflected waves from the transmission source 10 (the number of multiplexed signals) is assumed to be q. Also assume that q is known. Furthermore, the relationship between the direct wave and the reflected wave can be expressed by equation (2). .
- Fig. 3 is a block diagram showing a multiplexed wave direction-of-arrival estimation system.
- This direction-of-arrival estimation system includes an array antenna 30, a baseband and digital processing unit 40, and a direction-of-arrival estimation unit 50.
- the array antenna 30 is composed of M (where M> 2 (i) antenna elements 31).
- FIG. 4 is a configuration diagram of the arrival direction estimation unit 50.
- the direction-of-arrival estimating unit 50 includes a means 51 for calculating a periodic correlation between array data, a means 52 for forming a periodic correlation sequence, a means 53 for calculating a linear numerator, a means 5 for calculating an orthogonal projection operator, and a spectrum. Means 55 for determining the peak position or the zero-point phase of the polynomial.
- the signal (ii), xM * (n). And (n) and the periodic correlation vector 8 and ( ⁇ ) of X ⁇ * ( ⁇ ) are obtained.
- the correlation vector W (te) is
- the periodic correlation matrix forming means 52 uses the periodic correlation vector of each sub-array obtained by the equations (lla) and (lib) to obtain the following equation: [V '(T), / 2 (,...,. ((12a)
- the periodic correlation matrix forming means 52 calculates the periodic correlation matrix 3 ⁇ ( ⁇ ), as shown on the right side of the equation (12.a), as q x q and (L- (j) X q, respectively).
- the upper and lower periodic correlation matrices are divided into 0 ⁇ ( ⁇ ) and 2 ( ⁇ ) ', and the periodic correlation matrix)' is divided by q and (Lq) X q as shown on the right side of equation (12.b).
- L Xq is the periodic correlation matrix
- the rank of 3 ⁇ 4 (r) is equal to the number of desired signals.
- ⁇ (r) [* 2 (ri), 3 ⁇ 42 (ri) --- 3 2 (r e ); 3 ⁇ 42 (r 2 )]; can improve the direction of arrival estimation performance. . .
- the means 55 for determining the peak position of the spectrum or the zero-point phase of the polynomial uses the orthogonal projection operator ⁇ to calculate the first to q-th components of the spectrum shown in Expression (16). Calculate the direction of arrival of the multiplexed wave from the q zero peaks close to the unit circle of the polynomial p (z) shown in Eq. (17) and output it as the estimation result .
- the arrival direction estimating unit 50 can estimate the arrival direction of the multiplex wave.
- RMSE root mean-square-error
- A is the RMSE characteristic of the present invention.
- a CRB (Cramer-Rao lower bound) D which shows a minimum error, is plotted.
- C.-C. Yeh "Simple computation oi projection matrix for bearing estimations ⁇ ? Roc. I EE, Part F, vol. 134, no. 2, pp. 146-150 ( 1987).
- the estimation performance is better than spatial smoothing MUSIC using eigenvalue decomposition and BEWE not using eigenvalue decomposition even in the presence of an interference signal.
- the arrival direction of the periodic stationary multiplex is estimated by considering both the forward subarray and the backward subarray.However, the arrival direction of the multiplex wave may be estimated using only the forward subarray. Alternatively, the arrival direction of the multiplex wave can be estimated using only the backward sub-array. To estimate the arrival direction of a multiplex wave using only the forward sub-ray, the periodic correlation matrix. ( ⁇ ), (1
- the periodic correlation matrices 0 i (r) and M are respectively taken into consideration in both the forward subarray and the backward subarray.
- the direction of arrival of the periodic stationary multiplex was estimated as above, the same applies to the estimation of the direction of arrival of the partially correlated periodic stationary signal or the uncorrelated periodic stationary signal, not limited to the arrival direction of the periodic stationary multiplex. Can be applied. This can be applied to the first modification.
- the periodic correlation between the received data x (n) and XM * (n) and x (n) and Xl * (n) is obtained, and linear equidistant intervals are calculated using the periodic correlations corresponding to all forward or backward subarrays.
- the direction of arrival of the multiplexed wave, the partially correlated periodic stationary signal, or the uncorrelated periodic stationary signal incident on the array was estimated.
- the periodic correlation between received data X (II) and X i * (n) can be calculated, and a periodic correlation matrix can be created using some subarrays.
- this matrix can be divided into ( ⁇ ) and ⁇ 2 ( ⁇ ) ⁇ up and down. ⁇ ("( ⁇ ) rank is equal to the number of desired signals),
- the first embodiment is an embodiment using an equally spaced linear array antenna. It is not always necessary to use an evenly spaced linear array antenna, and it is not necessary to use an equally spaced linear array antenna.
- An array antenna having an arbitrary array such as an array antenna can be used.
- ⁇ M-q (18) Calculates the periodic array covariance matrix of the MXM.
- the periodic array covariance matrix is separated into two upper and lower child matrices of (QXM) and (Mq) XM, ( ⁇ ) ′.
- the orthogonal projection operator / 7 is obtained, the spatial vector ⁇ ( ⁇ ) or the polynomial ⁇ ( ⁇ ) with the direction as a variable is obtained by using the orthogonal projection operator according to Eq. (16) or (17). Then, the directions of arrival of q signals are estimated from these.
- the direction-of-arrival estimation unit 50 (FIG. 3) of the first embodiment can estimate the direction of arrival of a periodic stationary signal without using eigenvalue decomposition as in the related art.
- the first embodiment can be applied when the signal source is stationary. Therefore, when the direction of arrival of the incident signal changes with time, it is necessary to develop an online processing algorithm by expanding the estimation method of the first embodiment so that the time-varying direction of arrival can be accurately estimated.
- FIG. 8 is a configuration diagram of the arrival direction estimating unit 50 when the arrival direction of the incident signal changes with time.
- a procedure for tracking the arrival direction of the periodic stationary signal will be described.
- the means 511 for calculating the periodic correlation matrix at the time K is a complex digital signal obtained from the baseband and digital processing unit 40.
- ⁇ ⁇ ) ⁇ ( ⁇ , ⁇ ) ⁇ ⁇ ⁇ , ⁇ ))- ⁇ ⁇ , ⁇ ) ⁇ ⁇ ⁇ , ⁇ ) (20 ) to find the linear operator at time ⁇ .
- the direction of arrival at time is determined by the iterative determination means 514 as
- the direction-of-arrival estimating unit 50 can calculate and track a time-varying direction of arrival online.
- ⁇ 2 (n) 100 + 5o s i n (2 C (4 ⁇ 10 ⁇ 4 ⁇ + 2.25 ⁇ 10 ⁇ 6 ⁇ 2)) shall be incident on ⁇ Les first antenna from.
- the SNR is 15 dB
- the time-varying radio wave arrival direction is estimated by considering both the forward sub-array and the backward sub-array.However, the arrival direction of the multiplex wave can be estimated using only the forward sub-array. However, it is also possible to estimate the arrival direction of the multiplex using only the backward sub-array.
- the arrival direction of the periodically changing multiplexed wave that changes with time is estimated.
- the present invention is not limited to the arrival direction of the periodically multiplexed wave. It can also be applied to estimating the direction of arrival of a signal.
- the second embodiment uses an equally-spaced linear array antenna.However, it is not always necessary to use an equally-spaced linear array antenna.
- the present invention can also be applied to the case where an array antenna having an arbitrary arrangement such as an array antenna arranged or an array antenna arranged in a lattice is used.
- the second embodiment applies the equations (19a), (19b) to (23) to the first embodiment and all the modifications of the first embodiment to determine the time-varying radio wave arrival direction online. Can be estimated.
- a base station receiving device is constituted by a device for estimating the direction of arrival of a cyclic stationary signal and a beam forming means for generating a reception beam pattern so that a peak is directed to the signal source direction estimated by the device for estimating the direction of arrival. can do.
- FIG. 11 is a configuration diagram of such a base station receiver.
- the array antenna 30 receives the signal and inputs the signal to the baseband and digital processing unit 40.
- the digital processing unit 40 performs signal processing for each antenna element and outputs complex digital reception data.
- the direction-of-arrival estimating unit 50 estimates the direction of arrival of the multiplex using the complex digital received data for each antenna element.
- the beamformer (reception beamformer) 60 forms a beam so as to have a peak in the signal source direction by using the estimated value of the arrival direction of the multiplex wave obtained from the arrival direction estimation unit 50. That is, the beamformer 60 extracts a desired signal while suppressing interference, noise, and the like, and sends the desired signal to the channel receiving unit 70.
- the channel receiving section 70 performs a receiving process by a known method, and demodulates and outputs received data.
- the beamformer 60 for directing the beam toward the signal source using the arrival direction information obtained by the first and second embodiments can have various configurations. .L. Frost, An algorithm for linearly constrained adaptive array processing s Proc.IEEE, vol. 60, no.8, pp. 926-935 (1975) and J. Xin, H. Tsuji, Y. Hase, and A Sano, "Array beam forming based on cyclic signal detection ⁇ " Proc. IEEE 48th Vehicular Technology Conference, pp. 890-894, Ottawa ⁇ Canada (1998), etc. (Using the beamforming method described here, It is possible to direct the beam in the signal arrival direction and receive it.
- the base station transmitting apparatus can be configured by beam forming means (transmitting beam former) 80 that generates a transmitting beam pattern so that a peak is directed in the direction.
- FIG. 12 is a configuration diagram of such a base station transmitting apparatus.
- FIG. 12 also shows a base station receiving apparatus.
- the transmission beamformer 80 When transmission data is input from the transmission unit 90, the transmission beamformer 80 forms a transmission beam pattern so that the peak is directed in the direction estimated by the arrival direction estimation unit 50, and converts the complex digital transmission signal. Input to baseband and digital signal processor 40 '.
- the signal processing unit 40 ′ converts the complex digital transmission data into a radio signal and inputs the radio signal to each antenna element of the array antenna 30. As a result, a beam is emitted toward the receiving station, and the error rate can be reduced. Note that the array antennas 30, 3 (in FIG. 12 can be shared.
- the direction of arrival that changes over time can be tracked online, and the direction of arrival of a signal can be quickly and accurately estimated. Therefore, it is possible to improve the accuracy in estimating the arrival direction of the multiplex wave.
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PCT/JP2003/008015 WO2005001504A1 (ja) | 2003-06-25 | 2003-06-25 | 電波到来方向推定方法及び装置 |
JP2005503206A JPWO2005001504A1 (ja) | 2003-06-25 | 2003-06-25 | 電波到来方向推定方法及び装置 |
EP03736243A EP1637901A4 (en) | 2003-06-25 | 2003-06-25 | METHOD AND DEVICE FOR ESTIMATING THE WAVE ANCHOR |
US11/214,407 US7084812B2 (en) | 2003-06-25 | 2005-08-29 | Method and device for tracking the directions-of-arrival of radio waves |
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JP2016148591A (ja) * | 2015-02-12 | 2016-08-18 | 株式会社日本自動車部品総合研究所 | 到来方向推定装置 |
CN109633520A (zh) * | 2019-01-21 | 2019-04-16 | 重庆邮电大学 | 一种均匀圆阵超分辨率空间谱估计方法 |
Also Published As
Publication number | Publication date |
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EP1637901A1 (en) | 2006-03-22 |
EP1637901A4 (en) | 2007-12-26 |
US20060007043A1 (en) | 2006-01-12 |
US7084812B2 (en) | 2006-08-01 |
JPWO2005001504A1 (ja) | 2006-07-27 |
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