CN118175626A - Single anchor point near field environment sensing and non-line-of-sight user positioning method - Google Patents
Single anchor point near field environment sensing and non-line-of-sight user positioning method Download PDFInfo
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Abstract
The invention discloses a single anchor point near field environment sensing and non-line-of-sight user positioning method, which belongs to the field of wireless positioning, and utilizes the near field characteristics of a super-large-scale array to perform sensing positioning on a near field scatterer through array signal processing to acquire the position of the near field scatterer, and utilizes a received wireless signal to estimate the time delay of each near field scattering path; and estimating the position of the user equipment by using the position of the scatterer in each near-field scattering path and the time delay of the path, so as to realize the positioning of the user. The invention solves the problem that the user equipment is difficult to be positioned at a single anchor point in a non-line-of-sight link scene by combining the near field distance and angle sensing capability of the ultra-large-scale antenna array and the time delay estimation based on the scattering signal, can use a single base station, simultaneously realize the sensing of the environment and the positioning of the user equipment under the condition that the base station and the user only have the non-line-of-sight link, and can normally work when the clock synchronization error exists between the base station and the user terminal.
Description
Technical Field
The invention relates to the technical field of radio positioning, in particular to a single anchor point near field environment sensing and non-line-of-sight user positioning method.
Background
In the existing mobile cellular network, due to clock synchronization errors between the user and the base stations, the user needs to be located by cooperation of multiple base stations, such as multiple stations downlink arrival time difference (DL-TDOA), multiple stations uplink arrival time difference (UL-TDOA), downlink departure angle (DL-AoD), uplink arrival angle (UL-AoA), multiple stations round trip time (Multi-RTT), and the like, so that the existing single anchor point location system which does not need multiple stations to participate also needs uplink and downlink interaction to achieve accurate time synchronization. Coordination among multiple stations, as well as interactions both upstream and downstream, can result in additional overhead. Meanwhile, these positioning methods all require a direct (LoS) path between the user and the base station, which can present a significant challenge if only a non-line-of-sight (NLoS) path exists between the user and the base station. The existing method for processing the non-line-of-sight path only considers how to identify and discard the measurement result of the non-line-of-sight link, and does not consider how to fully utilize the non-line-of-sight link for positioning service.
With the large-scale deployment of fifth-generation (5G) mobile communication networks and the development of 6G communication technology research, and the increasingly scarce spectrum resources, the millimeter wave frequency band (30 GHz-300 GHz) becomes a focus of attention in the field of mobile communication. Meanwhile, in order to compensate higher path loss and scattering attenuation of millimeter wave frequency bands, beam forming and spatial multiplexing gain are improved, and ultra-large-scale arrays also become development trends of mobile communication. The use of millimeter wave ultra-large scale antennas brings many new characteristics to the channel and also provides new possibilities for positioning.
According to the near field range formula r < 2D 2/lambda, the near field range of the array is increased by the increase of the antenna caliber caused by the ultra-large-scale array and the shorter wavelength caused by the millimeter wave. In the near field range, the traditional uniform plane wave assumption is no longer applicable, and modeling of the channel needs to consider a more practical uniform spherical wave or non-uniform spherical wave model, which introduces new near field characteristics to the channel.
In the far field model, the array steering vector can be written as:
Wherein d is the array spacing, M is the array element number, and θ is the target angle. Since the steering vector of the array is only related to the angle of the target, it is not possible to achieve simultaneous estimation of the target angle and distance using array signal processing. However, in the near field range, under the uniform plane wave assumption, the expression of the steering vector becomes: In which the phase is
The steering vector is related to distance and angle simultaneously. This makes it possible to directly estimate the angle and distance of the scatterer using array signal processing means.
Based on the above analysis, higher frequency bands and larger array scale are trends of future wireless communication system development, and high frequency, ultra-large scale arrays bring new near field characteristics. The existing positioning method does not fully utilize the near field characteristic of the ultra-large scale array, and multi-station cooperation or uplink and downlink interaction is needed to solve the problem of clock synchronization error, so that the additional cost is high. In addition, non-line-of-sight links pose challenges to existing positioning methods that not only fail to utilize information from the non-line-of-sight links, but also require additional work to identify and eliminate the impact of the non-line-of-sight links. In order to solve the problems, the invention provides a single anchor point environment sensing and non-line-of-sight user equipment positioning method by utilizing a near field scatterer.
Disclosure of Invention
The invention provides a single anchor point near field environment sensing and non-line-of-sight user positioning method, which is oriented to higher frequency bands and larger array scale, solves the challenges of clock synchronization errors of a base station and a user and the challenges of non-line-of-sight link interference faced by the traditional positioning method, uses a single base station (anchor point), has clock synchronization errors between the base station and the user, and realizes the sensing of the environment and the positioning of user equipment under the condition that only the non-line-of-sight link exists.
The embodiment of the invention provides a single anchor point near field environment sensing and non-line-of-sight user positioning method, which comprises the following steps:
receiving a wireless signal sent by a user equipment end, and estimating the position of a near-field scatterer by using the near-field characteristic of the ultra-large-scale array through an array signal processing method;
Estimating the time delay of each near-field scattering path by using the original wireless signals sent by the user equipment and the wireless signals scattered by the near-field scatterers;
and estimating the position of the user equipment end according to the estimated position of the near-field scattering body and the time delay of each near-field scattering path.
Optionally, in an embodiment of the present invention, the wireless signal sent by the ue is a signal with a bandwidth.
Optionally, in an embodiment of the present invention, the wireless signal sent by the ue includes an OFDM signal, an FMCW signal, a ZC sequence, and a spread spectrum signal.
Optionally, in an embodiment of the present invention, a base station is equipped with a super-large-scale antenna array to receive the wireless signal scattered by the environment, where the array size of the super-large-scale array is calculated according to a near-field range formula r < 2D 2/λ, where r is a distance between a spatial midpoint and the array, D is the array size, and λ is a signal wavelength.
Alternatively, in one embodiment of the invention, the near field properties of a very large scale array are utilized as steering vectors and angle, distance dependent properties.
Optionally, in one embodiment of the present invention, the delay of each near-field scattering path is added by two parts, one part is the signal propagation delay of each path, which is equal to the total path length divided by the signal propagation speed; the other part is clock synchronization error between the base station end and the user equipment end, and the clock synchronization error of all scattering paths is the same.
Optionally, in one embodiment of the present invention, when there is a clock synchronization error between the base station end and the user equipment end, the clock synchronization error is estimated.
The single anchor point near field environment sensing and non-line-of-sight user positioning method provided by the embodiment of the invention has the following beneficial effects:
1. The near field characteristic of the ultra-large scale array can be fully utilized, and the environment sensing and the user positioning can be simultaneously realized by only using a single anchor point, so that compared with the traditional positioning method, the method has the advantages of no multi-station cooperation and reduction of communication overhead between stations.
2. The method utilizes the scatterer in the non-line-of-sight path to realize the positioning of the user, fully utilizes the non-line-of-sight link to assist in positioning, and has the advantage of no need of processing non-line-of-sight link interference compared with the traditional positioning method.
3. The method is not influenced by the clock synchronization error of the base station and the user equipment, can normally realize positioning when the base station and the user equipment have larger clock synchronization error, has the advantage of no need of uplink and downlink interaction compared with the traditional positioning method, can realize positioning only by transmitting a wireless signal once by the user equipment, and has low time-frequency resource expense.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flow chart of a single anchor point near field environment awareness and non-line-of-sight user location method provided in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a near field context aware and non-line-of-sight user equipment positioning scenario provided by an embodiment of the invention;
FIG. 3 is a schematic diagram of modeling a near field steering vector of a very large scale array according to an embodiment of the present invention;
FIG. 4 is a diagram of an implementation of a single anchor near field environment awareness and non-line-of-sight user location method.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
Fig. 1 is a flowchart of a single anchor near field environment sensing and non-line-of-sight user positioning method according to an embodiment of the present invention.
As shown in fig. 1, the single anchor point near field environment sensing and non-line-of-sight user positioning method comprises the following steps:
In step S101, a wireless signal sent by a user equipment end is received, and a near field scatterer position is estimated by an array signal processing method by using a near field characteristic of a super-large-scale array.
The user equipment end actively transmits the wireless signal, and the base station end receives the wireless signal transmitted by the user equipment end. The base station utilizes the near field characteristic of the ultra-large-scale antenna array with the angle and distance sensing capability, and directly estimates the position of the near field scatterer by means of array signal processing, so as to realize the sensing of the environment. The near field characteristic of the ultra-large scale array is the characteristic related to the steering vector, the angle and the distance.
In the embodiment of the invention, the wireless signal sent by the user equipment side is a signal with a certain bandwidth, not a single frequency signal, so as to provide time delay sensing capability. In a specific implementation, the signal may be an OFDM signal, an FMCW signal, a ZC sequence, a spread spectrum signal, or the like. Meanwhile, the signal is known at the base station end or can be recovered at the base station end by means of demodulation before reconstruction and the like.
The base station end is provided with a super-large-scale antenna array for receiving wireless signals scattered by the environment, the super-large-scale array has a larger array size and is calculated according to a near-field range formula r < 2D 2/lambda, the super-large-scale antenna array has a near-field range of more than 1 meter, wherein the distance between a spatial midpoint and the array is the array size, and lambda is the signal wavelength. And near field scatterers refer to scatterers that are within the near field range of a very large scale array. The array signal processing method utilizes the near field characteristic of the ultra-large scale array, namely the specific guiding vector which is related to the angle and the distance under the near field condition to realize the positioning of the near field scattering body. The specific implementation can be a traditional correlation algorithm, and can also be a super-resolution algorithm such as MUSIC, capon beam forming, SAGE and the like.
In step S102, the time delay of each near-field scattering path is estimated by using the original wireless signal sent by the user equipment and the wireless signal scattered by the near-field scatterer.
The base station estimates the time delay of each near-field scattering path by using the wireless signals transmitted by the user terminal and scattered by the near-field scatterers. The near field scattering path is a signal propagation path through the near field scatterer.
The base station end performs joint processing on the received wireless signals scattered by the near-field scatterers and the original signals known or recovered at the base station end to estimate the time delay from each path signal. The delay here is made up of two parts added together, one part being the signal propagation delay for each path, which is equal to the total path length divided by the signal propagation speed; another part is the clock synchronization error between the base station and the user equipment, which is the same for all scattering paths. Depending on the algorithm used in step S101, step S102 may be performed in combination with step S101 or may be performed separately after step S101. For example, for an algorithm such as SAGE, which can jointly estimate multiple parameters, step S101 and step S102 can be combined into a single step implementation, i.e. to estimate the time delay of each path signal while estimating the scatterer position. When step S101 is implemented separately from step S102, the signals from each path may be separated by zero-forcing (ZF) beamforming on the very large array, respectively. The separated signals may then be further processed in combination with the known or recovered signals to estimate the corresponding time delays. The joint processing algorithm herein relates to specific signals sent by the ue, and different algorithms are available for different types of signals. For signals with better autocorrelation characteristics such as ZC sequences, the time delay can be obtained by directly using time domain correlation, and for OFDM signals, the estimation of the time delay can be realized by using an OFDM radar mode.
In step S103, the position of the user equipment end is estimated according to the estimated position of the near field scatterer and the time delay of each near field scattering path.
The base station utilizes the positions of the near-field scatterers and the time delay of each near-field scattering path to solve the position of the user end, and the user is positioned by only utilizing a single anchor point under a non-line-of-sight link.
The base station estimates the position of the user equipment using the near field scatterer position estimated in step S101 and the time delay of the near field scattering path estimated in step S102. Meanwhile, if a clock synchronization error exists between the base station and the user equipment, the base station can estimate Zhong Chazhi between the base station and the user equipment, and the estimation result can be used for improving the clock synchronization performance between the base station and the user equipment. It should be noted that implementing user positioning has certain requirements on the number of near field scatterers. In a two-dimensional positioning scene, if perfect synchronization exists between a base station and user equipment, no synchronization error exists, for example, both ends are time-shared by GPS, and user positioning can be realized only by three near-field scatterers; if there is a synchronization error, at least four near field scatterers are needed.
The single anchor point near field environment sensing and non-line-of-sight user positioning method of the invention is described below by way of specific embodiments.
Fig. 2 is a schematic diagram of a near field context aware and non line of sight user equipment positioning scenario. The base station end is provided with a super-large-scale antenna array of M array elements for receiving the wireless signals scattered by the environment. There are L near field scatterers in the environment, where r U,l and r B,l are the distances of the first scatterer from the user equipment and the base station, and θ l is the angle of arrival (AoA) of the first scatterer distance with respect to the first array element. The impulse response of the MISO channel can be modeled as:
Where the signal propagation delay τ l＝(rB,l+rU,l)/c, c is the speed of light. τ d is the clock difference between the base station and the user equipment caused by the synchronization error. Where the channel vector for each path can be modeled as h l＝αla(rB,l,θl), where a l is the complex scattering coefficient.
FIG. 3 is a schematic diagram of a very large scale array near field steering vector modeling. The steering vector a (r B,l,θl) can be modeled according to a uniform spherical wave model as:
The phase of the m-th array element is as follows:
where d is the array element spacing and λ is the signal wavelength.
Fig. 4 is a schematic diagram of an implementation of context aware and non-line-of-sight user equipment positioning using near field scatterers.
The specific implementation steps can be summarized as follows:
(1) The user equipment end actively transmits an OFDM modulated wireless signal;
(2) When the base station receives OFDM signals sent by users, the near field scattering body position is estimated by using a two-dimensional MUSIC method by utilizing the near field characteristics of the ultra-large-scale array, namely the characteristics of the guiding vector, the angle and the distance And positioning of the near-field scatterer is realized.
(3) The base station end estimates the position of the scattering body according to the step (2)Separating the signals of each path by zero-forcing beam forming, and estimating the time delay corresponding to the path by using OFDM radar periodic diagram method for the signals of each path
(4) The base station end uses the scatterer position estimated in the step (2)And (3) the estimated path delay/>Simultaneous equation solving for the location/>, of a user deviceSum clock difference/>
In step (1), the OFDM signal sent by the ue may be expressed as:
Where Δf is the subcarrier spacing, T CP is the Cyclic Prefix (CP) length, T O is the length of one OFDM symbol, Is an independent co-distributed QAM modulated communication symbol, b n,γ is a loaded QAM symbol on the nth subcarrier, the gamma OFDM symbol. The rectangular window function rect (t) is defined as:
The signal received by the base station in the step (2) may be expressed as:
where n (t) is additive white gaussian noise. After receiving the signal, the base station samples the signal at a sampling rate of T s =1/B, where b=nΔf is the bandwidth of the signal. The sampled signal is:
For convenience, define:
Wherein the method comprises the steps of Is the number of samples. The matrix Y can be further expressed as:
the base station then uses a two-dimensional MUSIC algorithm to estimate the scatterer positions Firstly, calculating a correlation matrix of a matrix Y, and carrying out feature decomposition:
Where Λ s and Λ n are diagonal arrays of L larger eigenvalues and M-L smaller eigenvalues, respectively, and the column vectors of E s and E n are eigenvectors corresponding to these eigenvalues. According to the MUSIC algorithm principle, the linear space spanned by the column vector of E s is the signal subspace, and the linear space spanned by the column vector of E n is the noise subspace. From the property of signal subspace and noise subspace orthogonality, the two-dimensional MUSIC spectrum can be calculated as follows:
Where a (r B, θ) is the steering vector corresponding to position (r B, θ). Thus, the position of the scatterer can be obtained by searching for the spectral peak of the MUSIC spectrum. Estimated polar coordinates Can be further converted into rectangular coordinates:
in step (3), the base station first estimates the position of the scatterer according to step two Constructing a zero-forcing receiving beam forming vector:
Wherein the method comprises the steps of Then, the base station separates the signals of each path through receiving beam forming:
where r l k denotes the signal of the first path, i.e. the signal reflected by the first scatterer. Next, the base station estimates the delay for each path of signal separately. Assuming maximum delay If the length of the CP is not exceeded, after CP is removed, the received signal can be processed into a matrix form by OFDM demodulation:
Wherein (F Rx,l)n,γ denotes a symbol received by the signal of the first path on the nth subcarrier, the γ OFDM symbol:
Wherein the method comprises the steps of Next, the base station increases the signal-to-noise ratio of the signal by accumulating in the symbol domain:
Where (g l)n represents the nth element of vector g l. Then, the periodic graph method can be used to estimate the time delay:
Wherein the method comprises the steps of The inverse fast fourier transform, denoted N Per, w N is a window function to suppress the addition of side lobes. By searching for the peak/>, of Per l [ k ]The path delay can be estimated as:
in the step (4), the base station end uses the scatterer position estimated in the step (2) And (3) the estimated path delay/>Simultaneous equation solving for the location/>, of a user deviceSum clock difference/>Note that the distance of the scatterer l to the user device can be expressed as:
rU,l＝cτl-rB,l＝c(τs,l-τd)-rB,l，
the location of the user device can be solved by the following system of equations Sum clock difference/>
Order theThe system of equations can be further reduced to a linear equation Dx u =p, where
If the clock difference τ d =0, then L is not less than 3 near field scatterers are needed to solve the above equation, otherwise L is not less than 4 near field scatterers are needed. The above linear equation can be solved by least squares:
thus realizing the position of the user equipment Sum clock difference/>And (3) solving, the positioning of the user is realized.
According to the single anchor point near field environment sensing and non-line-of-sight user positioning method provided by the embodiment of the invention, a wireless signal is actively transmitted through a user equipment end, a base station end utilizes a super-large-scale antenna array, and a near field scatterer is subjected to sensing positioning through array signal processing, so that the position of the near field scatterer is obtained; the base station end estimates the time delay of each near-field scattering path by using the received wireless signals; the base station end estimates the position of the user equipment by utilizing the position of a scatterer in each near-field scattering path and the time delay of the path, so as to realize the positioning of the user. The invention solves the problem that the user equipment is difficult to be positioned by a single anchor point in a non-line-of-sight link scene by combining the near field distance and angle sensing capability of the ultra-large-scale antenna array and the time delay estimation based on the scattering signal. The method can use a single base station (anchor point), realize the perception of environment and the positioning of user equipment simultaneously under the condition that the base station and the user only have non-line-of-sight links, and can work normally when clock synchronization errors exist between the base station and the user side.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
Claims (7)
1. A single anchor point near field environment sensing and non-line-of-sight user positioning method is characterized by comprising the following steps:
receiving a wireless signal sent by a user equipment end, and estimating the position of a near-field scatterer by using the near-field characteristic of the ultra-large-scale array through an array signal processing method;
Estimating the time delay of each near-field scattering path by using the original wireless signals sent by the user equipment and the wireless signals scattered by the near-field scatterers;
and estimating the position of the user equipment end according to the estimated position of the near-field scattering body and the time delay of each near-field scattering path.
2. The method of claim 1, wherein the wireless signal transmitted by the ue is a signal with a bandwidth.
3. The method of claim 2, wherein the wireless signal transmitted by the ue includes an OFDM signal, an FMCW signal, a ZC sequence, and a spread spectrum signal.
4. The method of claim 1, wherein the base station is configured with a super-large-scale antenna array to receive the wireless signal scattered by the environment, and the super-large-scale array has an array size calculated according to a near-field range formula r < 2D 2/λ, where r is a distance between a spatial midpoint and the array, D is an array size, and λ is a signal wavelength.
5. The method of claim 1, wherein the near field characteristics of the very large scale array are steering vector and angle, distance dependent characteristics.
6. The method of claim 1, wherein the delay of each near field scattering path is added by two parts, one part being the signal propagation delay of each path, which is equal to the total path length divided by the signal propagation speed; the other part is clock synchronization error between the base station end and the user equipment end, and the clock synchronization error of all scattering paths is the same.
7. The method of claim 6, wherein the clock synchronization error is estimated when the clock synchronization error exists between the base station side and the user equipment side.
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