A method, device, equipment and medium for estimating OTFS channel sparsity of a ruin rescue robot

Abstract

This invention relates to the fields of wireless communication technology and special robot technology, specifically to an OTFS channel sparse estimation method, apparatus, device, and medium for a rubble rescue robot. By acquiring the instantaneous acceleration along the antenna beam direction collected in real time by the robot's inertial measurement unit and the preset OTFS delay-Doppler grid dimension, a weighted mask matrix is ​​constructed. Based on the weighted mask matrix, the observation vector extracted from the pilot symbols, and the observation matrix pre-generated according to the OTFS modulation parameters, the inner product magnitude of each column vector of the observation matrix and the current residual in each iteration is weighted and corrected using the weight values ​​corresponding to each column vector of the observation matrix in the weighted mask matrix, resulting in a weighted correlation index. Column vectors are selected based on the correlation index, and the support set and residual are updated until the convergence condition is met, yielding the channel estimation result. This method resolves the contradiction between the limited computing resources of the rescue robot and the high complexity of the channel estimation algorithm.

Images