Environment reconstruction method and system based on multi-antenna broadband non-line-of-sight communication multipath component
Through the multi-antenna broadband non-line-of-sight communication multipath component method, the hyper-determined equation and Kalman filter fusion are used to derive the obstacle position range and build an occupied grid map, which solves the shortcomings of propagation environment perception in the integration of communication and perception, and achieves efficient and accurate environmental perception.
Patent Information
- Application Number
- CN202510982417.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-16
- Publication Date
- 2025-08-26
AI Technical Summary
In the existing integrated communication and perception technology, there is a lack of propagation environment perception research based on non-sight multipath components, which leads to the inability to efficiently and accurately obtain wireless propagation environment information.
Using multi-antenna broadband non-line-of-sight communication multipath components, the obstacle position range is derived by constructing a hyperdetermined equation and Kalman filtering fusion, combining Doppler frequency deviation and arrival angle estimation, and an occupation grid map is constructed to perceive the surrounding environment.
Without occupancy of additional communication resources, based on the multipath component sensing terminal peripheral environment, efficient and accurate wireless propagation environment information is provided, supporting the integrated communication and perception function.
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Figure CN120546737A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of wireless communication technology, and in particular to an environment reconstruction method and system based on multi-path components of multi-antenna broadband non-line-of-sight communication. Background Art
[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.
[0003] Compared to 5G mobile communication systems, 6G mobile communication systems utilize high-frequency transmission (millimeter wave and even terahertz), ultra-large bandwidth, and larger antenna arrays. This enables high-resolution directional beam signal transmission, thus enabling high-precision environmental perception. The integration of communication and perception is crucial for improving communication system performance. On the one hand, communication networks leverage the transmission, reflection, and scattering of radio waves in the environment to extract distance, velocity, and angle information from received signals, enabling high-precision positioning, obstacle imaging, and environmental reconstruction. On the other hand, the high-precision location and obstacle environment information provided by perception can have a positive feedback effect on improving communication performance, for example, by reducing the probability of beam alignment failure, lowering the channel information estimation overhead, and reducing the overhead of dynamic terminal channel state information tracking.
[0004] Today, communication and perception integration involves the following technologies: (1) Waveform and signal design. Waveform design needs to consider the interference between communication signals and perception signals to achieve effective coexistence of the two. Research includes time division, frequency division, space division multiplexing, and the modification of existing waveforms or the design of new waveforms to improve spectrum efficiency while ensuring system performance. (2) Hardware joint design. The communication and perception integration system requires an integrated hardware solution that shares baseband and RF hardware to reduce energy consumption, reduce system size, and shorten information exchange delay. (3) Perception parameter estimation algorithm design. It is used to detect or estimate dynamic parameters of perception targets in the context of interawareness integration, such as ranging, angle measurement, speed measurement, as well as detection, recognition, and classification of target characteristics or behaviors.
[0005] However, most of the existing communication and perception integration technologies start from the perspectives of decoupling processing, waveform design, signal processing, etc., and there is no relevant research on perceiving the propagation environment based on the non-line-of-sight multipath components of communication. Summary of the Invention
[0006] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides an environment reconstruction method and system based on multipath components of multi-antenna broadband non-line-of-sight communication. The present invention makes full use of the multipath components of the broadband Multiple-Input Multiple-Output (MIMO) communication system to perceive the propagation environment, and can obtain efficient and accurate wireless propagation environment information.
[0007] In order to achieve the above object, the present invention adopts the following technical solutions: A first aspect of the present invention provides an environment reconstruction method based on multi-antenna broadband non-line-of-sight communication multipath components.
[0008] An environment reconstruction method based on multipath components of multi-antenna broadband non-line-of-sight communication, comprising: The multipath number, time delay, angle of arrival, angle of departure, and Doppler frequency shift of each multipath are obtained from a multi-antenna broadband communication system. An overdetermined equation is constructed based on the relationship between Doppler frequency shift and angle of arrival and angle of departure. The overdetermined equation is solved to obtain the angle of arrival estimated based on Doppler frequency shift. Combined with the angle of arrival measured by the antenna array, the environmental perception angle of arrival parameter is obtained through Kalman filter fusion. Based on the number of multipath paths, the delay of each multipath path, and the environment-aware arrival angle parameters, and taking single-hop reflection / scattering into account, the obstacle location corresponding to each multipath path is determined by combining delay constraints and angle constraints. The multipath delay range is calculated based on the system bandwidth, and the arrival angle range is calculated based on the number of antenna array elements. The obstacle location corresponding to each multipath path is expanded into a region. An occupancy grid map is constructed, and the obstacle location area corresponding to each multipath is discretized. The discretized area is converted into a grid location and the occupied mark count is performed, and the idle mark count is determined. The grids above the occupancy threshold are marked as occupied, and the grids below the idle threshold are marked as idle. The constructed grid map is used to perceive the surrounding environment.
[0009] Furthermore, the overdetermined equation is expressed by the following formula:
[0010] in, is the variable containing the departure angle to be solved; is the variable containing the angle of arrival to be solved; is the matrix containing the velocity vector of the originating end; is the matrix containing the receiving end velocity vector; Indicates that in a short period of time N Doppler frequency deviation value.
[0011] Furthermore, the fusion obtains the environment perception arrival angle parameter, which is expressed by the following formula:
[0012] in, For the l Elevation Angle of Arrival (EAoA) of the multipath; Indicates the multipath EAoA obtained by MIMO measurement, represents its corresponding variance; It represents the multipath EAoA obtained based on Doppler frequency offset estimation, represents its corresponding variance.
[0013] Furthermore, the method includes: considering single-hop reflection / scattering conditions, jointly determining the delay constraint and the angle constraint to obtain the obstacle position corresponding to each multipath; calculating the multipath delay range based on the system bandwidth; calculating the arrival angle range based on the number of antenna elements; and expanding the obstacle position corresponding to each multipath into an area; Under ideal multipath resolution, the positions of the transmitting and receiving ends are assumed to be and , No. l The obstacle position to be solved corresponding to the multipath is , then according to l Delay constraints for multipath ,have:
[0014] in, is the speed of light, and the constraint range is an ellipsoid; The angle constraint is expressed as a straight line connecting the obstacle and the terminal based on the arrival angle and the terminal position. It is expressed in the global coordinate system (GCS) as:
[0015] in, is the distance parameter from the obstacle to be solved to the receiving end; is the coordinate of any point on the line in GCS; by transforming between the local coordinate system and the global coordinate system, the above two equations are combined to obtain the distance from the obstacle to the terminal, and then the obstacle position to be solved is ; Under non-ideal multipath resolution, including non-ideal multipath delay resolution and multipath angle resolution; Considering the impact of system bandwidth, l Delay parameters of multipath Expanded to the delay range, that is:
[0016] The receiving end uses a uniform array antenna to receive the signal. Considering the influence of the antenna array, the first l The arrival angle parameter of each multipath is expanded into the delay range, that is:
[0017]
[0018] in, For the l EAoA of multiple paths; For the l The horizontal angle of arrival (AAoA) of the multipath; and Respectively represent the number of array elements of the uniform array on the horizontal and vertical axes; and Respectively represent the array element spacing on the horizontal and vertical axes of the array; Considering the system bandwidth and the limited number of antenna elements, the delay range formula is used to calculate the l The obstacle positions corresponding to the multipaths are expanded into a position area, which is a three-dimensional area.
[0019] Furthermore, the method for converting the discretized area into a grid position includes: converting the multipath parameters corresponding to the obstacle position area corresponding to each discretized multipath into GCS coordinates of discrete points in the obstacle position area; and converting the GCS coordinates into grid coordinates.
[0020] Furthermore, determining the idle marker count includes: calculating the grid where each grid in the obstacle location area and the connecting line of the receiving end are located, removing the intersection with the grid in the obstacle location area, and counting the idle markers of the remaining grids.
[0021] A second aspect of the present invention provides an environment reconstruction system based on multi-antenna broadband non-line-of-sight communication multipath components.
[0022] An environment reconstruction system based on multipath components of multi-antenna broadband non-line-of-sight communication, comprising: A parameter processing module is configured to: obtain the number of multipaths, the time delay of each multipath, the angle of arrival, the angle of departure, and the Doppler frequency shift according to the multi-antenna broadband communication system; construct an overdetermined equation based on the relationship between the Doppler frequency shift and the angle of arrival and the angle of departure; solve the overdetermined equation to obtain the angle of arrival estimated based on the Doppler frequency shift; combine the angle of arrival measured by the antenna array, and obtain the environment-aware angle of arrival parameter based on Kalman filtering; The obstacle location region determination module is configured to: determine the obstacle location corresponding to each multipath based on the number of multipaths, the delay of each multipath, and the environment-aware arrival angle parameter, while considering single-hop reflection / scattering conditions, jointly apply delay constraints and angle constraints, calculate the multipath delay range based on the system bandwidth, calculate the arrival angle range based on the number of antenna array elements, and expand the obstacle location corresponding to each multipath into a region; The grid map construction module is configured to: construct an occupancy grid map, discretize the obstacle location area corresponding to each multipath, convert the discretized area into grid locations and perform occupancy mark counts, and determine the idle mark counts; mark grids above the occupancy threshold as occupied, and mark grids below the idle threshold as idle. The constructed grid map is used to perceive the surrounding environment.
[0023] A third aspect of the present invention provides a computer device, comprising: a processor adapted to execute a computer program; A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, the steps in the method for reconstructing the environment based on the multi-path component of multi-antenna broadband non-line-of-sight communication as described in the first aspect above are implemented.
[0024] The fourth aspect of the present invention provides a computer-readable storage medium storing a computer program, which is suitable for being loaded by a processor and executing the steps in the environment reconstruction method based on multi-antenna broadband non-line-of-sight communication multipath components as described in the first aspect above.
[0025] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a method and system for environmental reconstruction based on multipath components in multi-antenna broadband non-line-of-sight communication. Based on the multipath component parameters measured by the multi-antenna broadband communication system, the obstacle location range corresponding to each discernible multipath is derived under single-hop reflection / scattering conditions, taking into account finite delay resolution and angular resolution. An occupancy grid map is constructed based on this sensed location information, thereby achieving the purpose of sensing the surrounding environment. The extracted multipath component parameters of the wireless channel include delay and the angle of arrival in the horizontal and elevation directions of the receiving terminal. The resolution of the multipath delay parameter is constrained by the bandwidth, and the resolution of the multipath angle parameter is constrained by the number of antenna array elements and the multipath pointing angle. For obstacle locations under single-hop propagation conditions, the non-perfectly resolved delay and angle of arrival information are used to derive the obstacle location range based on geometric relationships. Based on the sensed environment, an occupancy grid map is constructed and, based on the Bayesian principle, grid cells within the obstacle range corresponding to each multipath are marked as occupied or idle. The time and terminal location are updated, and the above steps are repeated until the deadline. The present invention senses the surrounding environment of a terminal based on multipath components without occupying additional communication resources, thus providing a new approach for the integrated communication and perception function of next-generation mobile communications. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.
[0027] Figure 1 1 is a flow chart of an environment reconstruction method based on multi-path components of multi-antenna broadband non-line-of-sight communication according to an embodiment of the present invention; Figure 2 1 is a structural diagram of an environment reconstruction system based on multi-path components of multi-antenna broadband non-line-of-sight communication, shown in an embodiment of the present invention; Figure 3 It is a structural diagram of a computer device shown in an embodiment of the present invention. DETAILED DESCRIPTION
[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0029] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.
[0030] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.
[0031] Figure 1 This is a flow chart of an environment reconstruction method based on multi-antenna broadband non-line-of-sight communication multipath components according to an embodiment of the present invention; Figure 1 , the method comprising: Step S1: Extracting wireless channel multipath component parameters based on a multi-antenna broadband communication system, including the number of multipaths, time delay, arrival / departure angles in the horizontal / elevation directions, and Doppler frequency shift; constructing an overdetermined equation for the relationship between Doppler frequency shift and angle, and estimating the angle of arrival from the frequency shift information using the least squares method; and preparing environmental perception parameters based on the Kalman filter fusion of the array-measured angle of arrival and the angle of arrival estimated using the Doppler frequency shift. The transmitter is a fixed base station and the receiver is a mobile terminal. The instantaneous speed and position of the transmitter and receiver are known. Both the transmitter and receiver are equipped with a Multiple-Input Multiple-Output (MIMO) antenna array to extract multipath angle parameters. Multipath component parameters include: gain, delay, horizontal angle of arrival (Azimuth Angle of Arrival, AAoA), elevation angle of arrival (Elevation Angle of Arrival, EAoA), horizontal angle of departure (Azimuth Angle of Departure, AAoD), elevation angle of departure (EAoD), and Doppler frequency deviation. Assume that at time t Extract multipath, among which l The multipath parameters are recorded as: (1) Where, For the l The gain of the multipath; For the l The delay of the multipath; For the l EAoA of multiple paths; For the l AAoA of multiple paths; For the l EAoD of multiple paths; For thel AAoD of multiple paths; For the l The Doppler frequency deviation of the multipath.
[0032] The speed information of the transmitting and receiving ends is known and is recorded as and Under the assumption of a single-hop link, the relationship between Doppler shift and angle can be expressed as: (2) in, is the wavelength; is the unit direction vector of the link from the origin to the obstacle; is the unit direction vector of the link from the obstacle to the receiving end; symbol Represents the vector inner product. Assuming that the channel sampling satisfies the oversampling condition, the angle information of the transmitting and receiving ends is considered unchanged in a short time. Let Indicates that in a short period of time N Doppler frequency deviation value, and there is N ≥4, then the following overdetermined equation can be constructed: (3) in, is the variable containing the departure angle to be solved; is the variable containing the angle of arrival to be solved; is the matrix containing the velocity vector of the originating end; is a matrix containing the receiving end velocity vector; the specific expressions of the above four variables are: (4) (5) (6) (7) in, Indicates the measured N The originating speed is z Axial component; Indicates the measured N The receiving speed is z Axis direction component. Let and (8) The variables to be solved can be calculated using the least squares method ,have: (9) The estimated arrival / departure angle can then be obtained according to formulas (4)-(5).
[0033] The Kalman filter is used to fuse the multipath angle variables measured by the MIMO array and the angle variables estimated by the Doppler frequency offset. Taking EAoA as an example, the specific calculation expression is: (10) in, For the l EAoA of multiple paths; Indicates the multipath EAoA obtained by MIMO measurement, represents its corresponding variance; It represents the multipath EAoA obtained based on Doppler frequency offset estimation, represents its corresponding variance.
[0034] Step S2: Based on the number of multipaths, the delay and arrival angle of each multipath, and taking into account single-hop reflection / scattering conditions, the obstacle position corresponding to each multipath is obtained by jointly applying the delay constraint and the angle constraint. The multipath delay range is calculated based on the system bandwidth, and the arrival angle range is calculated based on the number of antenna array elements. The obstacle position corresponding to each multipath is expanded into a region. The present invention involves three coordinate systems: Global Coordinate System (GCS) , raster map coordinate system , Local Coordinate System (LCS) , where the origin of the local coordinate system is at the midpoint of the line-of-sight link, and The positive direction of the axis points to the base station along the line-of-sight link. The global coordinate system can be obtained by rotation. With local coordinate system The relationship between them is as follows: (11) in, and Respectively represent the position coordinates of the same point in two different coordinate systems, GCS and LCS; is the coordinate of the origin of LCS in GCS, and ; Indicates winding y The rotation matrix of the axis; Indicates winding z The rotation matrix of the axis; and They represent the EAoA and AAoA of the line-of-sight path respectively.
[0036] Based on the multipath parameters obtained in step 1, only the number of multipaths, the delay of each multipath, and the horizontal / elevation arrival angle are considered to perceive the wireless propagation environment. , and conduct the following analysis. Assume that the locations of the transmitting and receiving ends are and , No. l The obstacle position to be solved corresponding to the multipath is , then under the single-hop reflection / scattering condition and according to the delay constraint, we have: (12) in, is the speed of light. It can be seen that the constraint range is an ellipsoid. The ellipsoid constraint range can be expressed in the local coordinate system as: (13) Among them, the parameters a is the major semi-axis of the ellipsoid, and the parameter b is the semi-minor axis of the ellipsoid, and: (14) (15) in, Indicates the line-of-sight link distance.
[0037] The angle constraint is expressed as the straight line connecting the obstacle and the terminal is derived based on the arrival angle and the terminal position. It can be expressed in the global coordinate system as follows: (16) in, is the distance parameter from the obstacle to be solved to the receiving end; is the coordinate of any point on the straight line connecting the obstacle and the receiving end in the GCS. According to formula (11), the straight line can be expressed in the local coordinate system as: (17) in, Represents the coordinates of any point on the line in LCS; End position Coordinates in LCS; is the direction vector of the line in LCS, and its calculation formula is as follows: (18) (19) Substituting formulas (17)-(19) into formula (13) yields an equation as follows: (20) The distance parameter can be obtained by solving the above quadratic equation , substituting it into formula (16), we can get the obstacle position to be solved as .
[0038] Consider system bandwidth B The impact of l Delay parameters of multipath Expanded to the delay range, that is: (twenty one) The receiving end uses a uniform array antenna to receive the signal. Considering the influence of the antenna array, the first l The arrival angle parameter of each multipath is expanded into the delay range, that is: (twenty two) (twenty three) in, and Respectively represent the number of array elements of the uniform array on the horizontal and vertical axes; and Respectively represent the array element spacing on the horizontal and vertical axes of the array. Since only the angle information of the receiving end multipath is used, the variable and Therefore, considering the system bandwidth and the limited number of antenna elements, the first l The obstacle positions corresponding to the multipaths are expanded into a position area, which is a three-dimensional area.
[0039] Step S3: Construct an occupancy grid map. Discretize the obstacle location area corresponding to each multipath, convert the discretized area into grid locations, and count occupancy marks. Using the 3D Bresenham algorithm, calculate the grid where each grid in the obstacle location area connects to the receiving terminal. Remove the grid intersection with the obstacle location area grid, and count the remaining grids as idle. Set occupancy and idle thresholds. Mark grids above the occupancy threshold as occupied, and grids below the idle threshold as idle. Update the time and terminal location, repeat the above steps until the deadline, and output the constructed grid map.
[0040] Point in the global coordinate system Points in the raster map coordinate system The positional relationship between them is as follows: (twenty four) (25) (26) Among them, the function is the rounding function, Indicates the position of the origin of the grid coordinate system in GCS.
[0041] Build an occupancy grid map , and the map accuracy is , traverse all multipaths and l The obstacle location area corresponding to the multipath is discretized, and the discretized grid points can be expressed as: (27) (28) (29) Wherein, the subscripts “min” and “max” represent the lower limit and upper limit of the corresponding range of formulas (27)-(29), respectively; i 、 j 、 k is a non-negative integer; 、 、 Respectively represent the number of discretizations in the delay dimension, AAoA, and EAoA dimension. By combining the above parameters, the multipath parameter corresponding to the discretized occupied area can be expressed as: (30) According to formula (16), the multipath parameters of formula (30) are converted into GCS coordinates of discrete points within the obstacle position range, which can be expressed as ,in According to formula (24-26), the GCS coordinates are converted into grid coordinates, which are recorded as , and count the occupancy mark of the grid. For each grid point within the obstacle position range , based on the three-dimensional Bresenham algorithm, calculate the line Rx- All grids passed by, delete the grids with There are grids with intersections, and the remaining grids are counted as idle.
[0042] Set the occupancy threshold and idle threshold, mark the grid above the occupancy threshold as occupied, and mark the grid below the idle threshold as idle.
[0043] Update the time and terminal location, repeat the above steps until the deadline, and output the constructed raster map to achieve the purpose of perceiving the surrounding environment.
[0044] Combination of the above Figure 1The environment reconstruction method based on multi-antenna broadband non-line-of-sight communication multipath components provided by an embodiment of the present invention is introduced in detail. Next, the environment reconstruction system based on multi-antenna broadband non-line-of-sight communication multipath components provided by an embodiment of the present invention will be introduced in conjunction with the accompanying drawings.
[0045] Figure 2 This is a schematic diagram of the structure of an environment reconstruction system based on multi-antenna broadband non-line-of-sight communication multipath components according to an embodiment of the present invention. Figure 2 , the system of the present invention comprises: A parameter processing module is configured to: obtain the number of multipaths, the time delay of each multipath, the angle of arrival, the angle of departure, and the Doppler frequency shift according to the multi-antenna broadband communication system; construct an overdetermined equation based on the relationship between the Doppler frequency shift and the angle of arrival and the angle of departure; solve the overdetermined equation to obtain the angle of arrival estimated based on the Doppler frequency shift; combine the angle of arrival measured by the antenna array, and obtain the environment-aware angle of arrival parameter based on Kalman filtering; The obstacle location region determination module is configured to: determine the obstacle location corresponding to each multipath based on the number of multipaths, the delay of each multipath, and the environment-aware arrival angle parameter, while considering single-hop reflection / scattering conditions, jointly apply delay constraints and angle constraints, calculate the multipath delay range based on the system bandwidth, calculate the arrival angle range based on the number of antenna array elements, and expand the obstacle location corresponding to each multipath into a region; The grid map construction module is configured to: construct an occupancy grid map, discretize the obstacle location area corresponding to each multipath, convert the discretized area into grid locations and perform occupancy mark counts, and determine the idle mark counts; mark grids above the occupancy threshold as occupied, and mark grids below the idle threshold as idle. The constructed grid map is used to perceive the surrounding environment.
[0046] In some embodiments, the overdetermined equation is expressed using the following formula:
[0047] in, is the variable containing the departure angle to be solved; is the variable containing the angle of arrival to be solved; is the matrix containing the velocity vector of the originating end; is the matrix containing the receiving end velocity vector; Indicates that in a short period of time N Doppler frequency deviation value.
[0048] In some embodiments, the fusion obtains an environment perception arrival angle parameter, which is expressed by the following formula:
[0049] in, For the l Elevation Angle of Arrival (EAoA) of the multipath; Indicates the multipath EAoA obtained by MIMO measurement, represents its corresponding variance; It represents the multipath EAoA obtained based on Doppler frequency offset estimation, represents its corresponding variance.
[0050] In some embodiments, the obstacle location area determination module is specifically configured to: Under ideal multipath resolution, the positions of the transmitting and receiving ends are assumed to be and , No. l The obstacle position to be solved corresponding to the multipath is , then according to l Delay constraints for multipath ,have:
[0051] in, is the speed of light, and the constraint range is an ellipsoid; The angle constraint is expressed as a straight line connecting the obstacle and the terminal based on the arrival angle and the terminal position. It is expressed in the global coordinate system (GCS) as:
[0052] in, is the distance parameter from the obstacle to be solved to the receiving end; is the coordinate of any point on the line in GCS; by transforming between the local coordinate system and the global coordinate system, the above two equations are combined to obtain the distance from the obstacle to the terminal, and then the obstacle position to be solved is ; Under non-ideal multipath resolution, including non-ideal multipath delay resolution and multipath angle resolution; Considering the impact of system bandwidth, l Delay parameters of multipath Expanded to the delay range, that is:
[0053] The receiving end uses a uniform array antenna to receive the signal. Considering the influence of the antenna array, the first l The arrival angle parameter of each multipath is expanded into the delay range, that is:
[0054]
[0055] in, For the l EAoA of multiple paths; For the l AAoA of multiple paths; and Respectively represent the number of array elements of the uniform array on the horizontal and vertical axes; and Respectively represent the array element spacing on the horizontal and vertical axes of the array; Considering the system bandwidth and the limited number of antenna elements, the delay range formula is used to calculate the l The obstacle positions corresponding to the multipaths are expanded into a position area, which is a three-dimensional area.
[0056] In some embodiments, converting the discretized area into a grid position includes: converting the multipath parameters corresponding to the obstacle position area corresponding to each discretized multipath into GCS coordinates of discrete points in the obstacle position area; and converting the GCS coordinates into grid coordinates.
[0057] In some embodiments, determining the idle marker count includes: calculating the grid where each grid in the obstacle location area is connected to the receiving end, removing the intersection with the grid in the obstacle location area, and counting the idle markers of the remaining grids.
[0058] According to an embodiment of the present invention, the environment reconstruction system based on multi-antenna broadband non-line-of-sight communication multipath components may correspond to the method described in the embodiment of the present invention, and the above and other operations and / or functions of each module of the environment reconstruction system based on multi-antenna broadband non-line-of-sight communication multipath components are respectively implemented Figure 1 For the sake of brevity, the corresponding processes of each method in are not repeated here.
[0059] See also Figure 3The computer device shown in the figure includes a processor, a communication interface, and a computer-readable storage medium. The processor, communication interface, and computer-readable storage medium may be connected via a bus or other means. The communication interface is used to receive and transmit data. The computer-readable storage medium may be stored in the computer device's memory, storing a computer program comprising program instructions. The processor is used to execute the program instructions stored in the computer-readable storage medium. The processor (also known as a CPU (Central Processing Unit)) is the computing and control core of the computer device. It is adapted to implement one or more instructions, specifically, to load and execute one or more instructions to implement the corresponding steps in an embodiment of the method for environment reconstruction based on multipath components of multi-antenna broadband non-line-of-sight communication.
[0060] This embodiment provides a computer-readable storage medium (Memory). This computer-readable storage medium is a memory device within a computer device that is used to store programs and data. It should be understood that the computer-readable storage medium herein may include both built-in storage media within the computer device and, of course, extended storage media supported by the computer device. The computer-readable storage medium provides storage space that stores the processing system of the computer device. Furthermore, the storage space also stores one or more instructions suitable for being loaded and executed by the processor. These instructions may be one or more computer programs (including program code). It should be noted that the computer-readable storage medium herein may be a high-speed RAM memory or a non-volatile memory, such as at least one disk storage device; alternatively, it may be at least one computer-readable storage medium located remotely from the processor.
[0061] In one embodiment, the computer-readable storage medium stores one or more instructions; the processor loads and executes the one or more instructions stored in the computer-readable storage medium to implement the corresponding steps in the above-mentioned embodiment of the environment reconstruction method based on multi-antenna broadband non-line-of-sight communication multipath components.
[0062] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) containing computer-usable program code.
[0063] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.
[0064] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.
[0065] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.
[0066] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium, and when executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).
[0067] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.
Claims
1. An environment reconstruction method based on multipath components of multi-antenna broadband non-line-of-sight communication, characterized in that: include: The multipath number, time delay, angle of arrival, angle of departure, and Doppler frequency shift of each multipath are obtained from a multi-antenna broadband communication system. An overdetermined equation is constructed based on the relationship between Doppler frequency shift and angle of arrival and angle of departure. The overdetermined equation is solved to obtain the angle of arrival estimated based on Doppler frequency shift. Combined with the angle of arrival measured by the antenna array, the environmental perception angle of arrival parameter is obtained through Kalman filter fusion. Based on the number of multipath paths, the delay of each multipath path, and the environment-aware arrival angle parameters, and taking single-hop reflection / scattering into account, the obstacle location corresponding to each multipath path is determined by combining delay constraints and angle constraints. The multipath delay range is calculated based on the system bandwidth, and the arrival angle range is calculated based on the number of antenna array elements. The obstacle location corresponding to each multipath path is expanded into a region. An occupancy grid map is constructed, and the obstacle location area corresponding to each multipath is discretized. The discretized area is converted into a grid location and the occupied mark count is performed, and the idle mark count is determined. The grids above the occupancy threshold are marked as occupied, and the grids below the idle threshold are marked as idle. The constructed grid map is used to perceive the surrounding environment.
2. The method for environment reconstruction based on multipath components of multi-antenna broadband non-line-of-sight communication according to claim 1, characterized in that: The overdetermined equation is expressed by the following formula: in, is the variable containing the departure angle to be solved; is the variable containing the angle of arrival to be solved; is the matrix containing the velocity vector of the originating end; is the matrix containing the receiving end velocity vector; Indicates that in a short period of time N Doppler frequency deviation value.
3. The method for environment reconstruction based on multipath components of multi-antenna broadband non-line-of-sight communication according to claim 1, characterized in that: Solving the overdetermined equation to obtain the arrival angle estimated based on the Doppler frequency offset includes: estimating the arrival angle from the frequency offset information using the least square method to obtain the arrival angle estimated based on the Doppler frequency offset.
4. The method for environment reconstruction based on multipath components of multi-antenna broadband non-line-of-sight communication according to claim 1, characterized in that: The fusion obtains the environment perception arrival angle parameter, which is expressed by the following formula: in, For the l The elevation arrival angle of the multipath; Indicates the multipath EAoA obtained by MIMO measurement, represents its corresponding variance; It represents the multipath EAoA obtained based on Doppler frequency offset estimation, represents its corresponding variance.
5. The method for environment reconstruction based on multi-path components of multi-antenna broadband non-line-of-sight communication according to claim 1, characterized in that: The method includes: considering single-hop reflection / scattering conditions, jointly determining the delay constraint and the angle constraint to obtain the obstacle position corresponding to each multipath; calculating the multipath delay range according to the system bandwidth; calculating the arrival angle range according to the number of antenna array elements; and expanding the obstacle position corresponding to each multipath into an area; Under ideal multipath resolution, the positions of the transmitting and receiving ends are assumed to be and , No. l The obstacle position to be solved corresponding to the multipath is , then according to l Delay constraints for multipath ,have: in, is the speed of light, and the constraint range is an ellipsoid; The angle constraint is expressed as the line connecting the obstacle and the terminal, which is derived based on the arrival angle and the terminal position. It is expressed in the global coordinate system as: in, is the distance parameter from the obstacle to be solved to the receiving end; is the coordinate of any point on the line in GCS; by transforming between the local coordinate system and the global coordinate system, the above two equations are combined to obtain the distance from the obstacle to the terminal, and then the obstacle position to be solved is ; Under non-ideal multipath resolution, including non-ideal multipath delay resolution and multipath angle resolution; Considering the impact of system bandwidth, l Delay parameters of multipath Expanded to the delay range, that is: The receiving end uses a uniform array antenna to receive the signal. Considering the influence of the antenna array, the first l The arrival angle parameter of each multipath is expanded into the delay range, that is: in, For the l EAoA of multiple paths; For the l AAoA of multiple paths; and Respectively represent the number of array elements of the uniform array on the horizontal and vertical axes; and Respectively represent the array element spacing on the horizontal and vertical axes of the array; Considering the system bandwidth and the limited number of antenna elements, the delay range formula is used to calculate the l The obstacle positions corresponding to the multipaths are expanded into a position area, which is a three-dimensional area.
6. The method for environment reconstruction based on multipath components of multi-antenna broadband non-line-of-sight communication according to claim 1, characterized in that: The method for converting the discretized area into a grid position includes: converting the multipath parameters corresponding to the obstacle position area corresponding to each discretized multipath into GCS coordinates of discrete points in the obstacle position area; and converting the GCS coordinates into grid coordinates.
7. The method for environment reconstruction based on multipath components of multi-antenna broadband non-line-of-sight communication according to claim 1, characterized in that: Determining the idle marker count includes: calculating the grid where each grid in the obstacle location area and the connecting line of the receiving end are located, removing the intersection with the grid in the obstacle location area, and counting the idle markers of the remaining grids.
8. An environment reconstruction system based on multi-path components of multi-antenna broadband non-line-of-sight communication, characterized by: include: A parameter processing module is configured to: obtain the number of multipaths, the time delay of each multipath, the angle of arrival, the angle of departure, and the Doppler frequency shift according to the multi-antenna broadband communication system; construct an overdetermined equation based on the relationship between the Doppler frequency shift and the angle of arrival and the angle of departure; solve the overdetermined equation to obtain the angle of arrival estimated based on the Doppler frequency shift; combine the angle of arrival measured by the antenna array, and obtain the environment-aware angle of arrival parameter based on Kalman filtering; The obstacle location region determination module is configured to: determine the obstacle location corresponding to each multipath based on the number of multipaths, the delay of each multipath, and the environment-aware arrival angle parameter, while considering single-hop reflection / scattering conditions, jointly apply delay constraints and angle constraints, calculate the multipath delay range based on the system bandwidth, calculate the arrival angle range based on the number of antenna array elements, and expand the obstacle location corresponding to each multipath into a region; The grid map construction module is configured to: construct an occupancy grid map, discretize the obstacle location area corresponding to each multipath, convert the discretized area into grid locations and perform occupancy mark counts, and determine the idle mark counts; mark grids above the occupancy threshold as occupied, and mark grids below the idle threshold as idle. The constructed grid map is used to perceive the surrounding environment.
9. A computer device, characterized in that: a processor adapted to execute a computer program; A computer-readable storage medium having a computer program stored therein, wherein the computer program, when executed by the processor, implements the steps in the method for reconstructing an environment based on multi-antenna broadband non-line-of-sight communication multipath components according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which is suitable for being loaded by a processor and executing the steps in the environment reconstruction method based on multi-antenna broadband non-line-of-sight communication multipath components according to any one of claims 1 to 7.