gnss multipath channel characterization and direction of arrival estimation by moving antenna...

GNSS Multipath Channel Characterization and Direction of

Arrival Estimation by Moving Antenna

GNSS Multipath Channel Characterization and Direction of

Arrival Estimation by Moving Antenna

Mohammad Hatef Keshvadi

Position, Location And Navigation (PLAN) GroupDepartment of Geomatics Engineering

University of Calgary

ENGO699.27 - February 4th, 2010

Mohammad Hatef Keshvadi

Position, Location And Navigation (PLAN) GroupDepartment of Geomatics Engineering

University of Calgary

ENGO699.27 - February 4th, 2010

ENGO 699.27- GNSS indoor channel characterization in dense multipath environments by moving antenna ENGO 699.27- GNSS indoor channel characterization in dense multipath environments by moving antenna2/13

ContentsContentsContentsContents

• MotivationMotivation

• OverviewOverview

• Literature review and previous worksLiterature review and previous works

• Outdoor data collectionOutdoor data collection

• ChallengesChallenges

• Future workFuture work

• MotivationMotivation

• OverviewOverview

• Literature review and previous worksLiterature review and previous works

• Outdoor data collectionOutdoor data collection

• ChallengesChallenges

• Future workFuture work


MotivationMotivationMotivationMotivation

• Significant improvement in “Doppler Estimation” Significant improvement in “Doppler Estimation” for indoor and dense multipath environments.for indoor and dense multipath environments.

• Amplification of GNSS signals along the AoA Amplification of GNSS signals along the AoA using BF.using BF.

• Significant improvement in “Doppler Estimation” Significant improvement in “Doppler Estimation” for indoor and dense multipath environments.for indoor and dense multipath environments.

• Amplification of GNSS signals along the AoA Amplification of GNSS signals along the AoA using BF.using BF.

Beamforming


OverviewOverviewOverviewOverview• The main objectives:The main objectives:

• Identifying Angle of Arrival (AoA)Identifying Angle of Arrival (AoA)

• Beamforming (BF)Beamforming (BF)

• MethodMethod

• Real data collection by a circular synthetic antenna Real data collection by a circular synthetic antenna array, in:array, in:

• Open sky environmentOpen sky environment

• Mild multipath environmentMild multipath environment

• Dense multipath environment Dense multipath environment

• Finding the AoA and BF Finding the AoA and BF

• Software receiver (GSNRx) output (for outdoor)Software receiver (GSNRx) output (for outdoor)

• Acquisition code outputs in MatlabAcquisition code outputs in Matlab®® (for indoor) (for indoor)

• The main objectives:The main objectives:

• Identifying Angle of Arrival (AoA)Identifying Angle of Arrival (AoA)

• Beamforming (BF)Beamforming (BF)

• MethodMethod

• Real data collection by a circular synthetic antenna Real data collection by a circular synthetic antenna array, in:array, in:

• Open sky environmentOpen sky environment

• Mild multipath environmentMild multipath environment

• Dense multipath environment Dense multipath environment

• Finding the AoA and BF Finding the AoA and BF

• Software receiver (GSNRx) output (for outdoor)Software receiver (GSNRx) output (for outdoor)

• Acquisition code outputs in MatlabAcquisition code outputs in Matlab®® (for indoor) (for indoor)


Literature Review and Previous Works (1/4)Literature Review and Previous Works (1/4)Literature Review and Previous Works (1/4)Literature Review and Previous Works (1/4)

• The main idea of synthetic array antennas is first The main idea of synthetic array antennas is first used in radarsused in radars

• The idea is brought to GNSS society in The idea is brought to GNSS society in (Broumandan 2007)(Broumandan 2007)

• In (Broumandan 2007, Pany 2008a, Pany 2008b, In (Broumandan 2007, Pany 2008a, Pany 2008b, Soloviev 2008) circular and linear motion was used Soloviev 2008) circular and linear motion was used to generate synthetic arraysto generate synthetic arrays

• Main applied methods were:Main applied methods were:

• FFT based methods for BF (Soloviev 2008)FFT based methods for BF (Soloviev 2008)

• In (Lin 2009) several adaptive BF and AoA methods were In (Lin 2009) several adaptive BF and AoA methods were employed employed

• The main idea of synthetic array antennas is first The main idea of synthetic array antennas is first used in radarsused in radars

• The idea is brought to GNSS society in The idea is brought to GNSS society in (Broumandan 2007)(Broumandan 2007)

• In (Broumandan 2007, Pany 2008a, Pany 2008b, In (Broumandan 2007, Pany 2008a, Pany 2008b, Soloviev 2008) circular and linear motion was used Soloviev 2008) circular and linear motion was used to generate synthetic arraysto generate synthetic arrays

• Main applied methods were:Main applied methods were:

• FFT based methods for BF (Soloviev 2008)FFT based methods for BF (Soloviev 2008)

• In (Lin 2009) several adaptive BF and AoA methods were In (Lin 2009) several adaptive BF and AoA methods were employed employed

Angle of Arrival Estimation for Handset Location ApplicationAngle of Arrival Estimation for Handset Location Application6 /100

Literature Review and Previous Works (2/4)Literature Review and Previous Works (2/4)Literature Review and Previous Works (2/4)Literature Review and Previous Works (2/4)

For BF, AoA must be known precisely.In practice, AoA is estimated.

Σ

AOA Estimation

Multipath Rejection ,

signal amplification

w

w

w

w

Beamforming

Complex weights


Literature Review and Previous Works (3/4)Literature Review and Previous Works (3/4)Literature Review and Previous Works (3/4)Literature Review and Previous Works (3/4)• BF methods used in (Lin 2009):BF methods used in (Lin 2009):

1.1. Delay and Sum (Beam Scan) (Lin 2009, Van Trees Delay and Sum (Beam Scan) (Lin 2009, Van Trees 2002):2002):

2.2. Minimum Variance Distortionless Response (MVDR) Minimum Variance Distortionless Response (MVDR) (Lin 2009, Van Trees 2002) :(Lin 2009, Van Trees 2002) :

3.3. Linear Constraint Minimum Variance/Power (LCMV) Linear Constraint Minimum Variance/Power (LCMV) (Lin 2009, Van Trees 2002) :(Lin 2009, Van Trees 2002) :

• BF methods used in (Lin 2009):BF methods used in (Lin 2009):

1.1. Delay and Sum (Beam Scan) (Lin 2009, Van Trees Delay and Sum (Beam Scan) (Lin 2009, Van Trees 2002):2002):

2.2. Minimum Variance Distortionless Response (MVDR) Minimum Variance Distortionless Response (MVDR) (Lin 2009, Van Trees 2002) :(Lin 2009, Van Trees 2002) :

3.3. Linear Constraint Minimum Variance/Power (LCMV) Linear Constraint Minimum Variance/Power (LCMV) (Lin 2009, Van Trees 2002) :(Lin 2009, Van Trees 2002) :

)(1skN vw

)()(

)(1

1

sns

H

ns

H

MVDRH

kk

k

vRv

Rvw

11 n

H

n

HHLCMV

H RCCRCgw


Literature Review and Previous Works (4/4)Literature Review and Previous Works (4/4)Literature Review and Previous Works (4/4)Literature Review and Previous Works (4/4)• AoA estimation methods used in (Lin 2007) include:AoA estimation methods used in (Lin 2007) include:

1.1. Beam Scan (Lin 2007, Van Trees 2002, Allen 2005):Beam Scan (Lin 2007, Van Trees 2002, Allen 2005):

2.2. Multiple Signal Classification (MUSIC) (Lin 2007, Van Trees Multiple Signal Classification (MUSIC) (Lin 2007, Van Trees 2002, Allen 2005):2002, Allen 2005):

Other Possible Methods:• ESPIRIT• Maximum Likelyhood based methods (Van Trees 2002, Allen 2005)(Van Trees 2002, Allen 2005)

• AoA estimation methods used in (Lin 2007) include:AoA estimation methods used in (Lin 2007) include:1.1. Beam Scan (Lin 2007, Van Trees 2002, Allen 2005):Beam Scan (Lin 2007, Van Trees 2002, Allen 2005):

2.2. Multiple Signal Classification (MUSIC) (Lin 2007, Van Trees Multiple Signal Classification (MUSIC) (Lin 2007, Van Trees 2002, Allen 2005):2002, Allen 2005):

Other Possible Methods:• ESPIRIT• Maximum Likelyhood based methods (Van Trees 2002, Allen 2005)(Van Trees 2002, Allen 2005)

,,maxargˆ

,,maxargˆ

aa

H

aa

H

kk

kk

vRv

vRv

x

x

,,

1maxargˆ

,,

1maxargˆ

a

H

a

H

a

H

a

H

kk

kk

vQQv

vQQv

nn

nn


Outdoor Data Collection (1/3)Outdoor Data Collection (1/3)Outdoor Data Collection (1/3)Outdoor Data Collection (1/3)

• To test the developed codes for AoA estimationTo test the developed codes for AoA estimation

• AoA estimation methods: Beam Scan, MUSICAoA estimation methods: Beam Scan, MUSIC

• Location: CCIT rooftopLocation: CCIT rooftop

• Date and Time: 21Jan, 2010 – 10:00~11:00 amDate and Time: 21Jan, 2010 – 10:00~11:00 am

• Angular Velocity: 0.1 rev/secAngular Velocity: 0.1 rev/sec

• Two Radiuses: 50 cm, 63.5 cmTwo Radiuses: 50 cm, 63.5 cm

• To test the developed codes for AoA estimationTo test the developed codes for AoA estimation

• AoA estimation methods: Beam Scan, MUSICAoA estimation methods: Beam Scan, MUSIC

• Location: CCIT rooftopLocation: CCIT rooftop

• Date and Time: 21Jan, 2010 – 10:00~11:00 amDate and Time: 21Jan, 2010 – 10:00~11:00 am

• Angular Velocity: 0.1 rev/secAngular Velocity: 0.1 rev/sec

• Two Radiuses: 50 cm, 63.5 cmTwo Radiuses: 50 cm, 63.5 cm

Reference antenna Moving antenna


Outdoor Data Collection (2/3)Outdoor Data Collection (2/3)Outdoor Data Collection (2/3)Outdoor Data Collection (2/3)

• Results – Beam Scan for PRN2 and PRN29:Results – Beam Scan for PRN2 and PRN29:• Results – Beam Scan for PRN2 and PRN29:Results – Beam Scan for PRN2 and PRN29:

Beam Scan results for PRN 29

Elevation (deg) Azimuth (deg)

Beam Scan results for PRN 02

Elevation (deg) Azimuth (deg)

Elevation angle is estimated precisely

Estimation of azimuth angle, depends on the selected initial epoch for each set.

Ao

A S

pec

tru

m

Ao

A S

pec

tru

mElevation = 78.7o Elevation = 32.5o


Future WorkFuture WorkFuture WorkFuture Work

• MUSIC algorithm is under developmentMUSIC algorithm is under development• Correcting deficiencies in codesCorrecting deficiencies in codes• Studying more material on telecommunication Studying more material on telecommunication

engineering and array processingengineering and array processing• Implementing Beamforming methods (Beam Implementing Beamforming methods (Beam

Scan, MVDR, LCMP)Scan, MVDR, LCMP)• Collecting more data in environments with more Collecting more data in environments with more

multipath (foliage, urban canyons, indoor multipath (foliage, urban canyons, indoor environments)environments)

• MUSIC algorithm is under developmentMUSIC algorithm is under development• Correcting deficiencies in codesCorrecting deficiencies in codes• Studying more material on telecommunication Studying more material on telecommunication

engineering and array processingengineering and array processing• Implementing Beamforming methods (Beam Implementing Beamforming methods (Beam

Scan, MVDR, LCMP)Scan, MVDR, LCMP)• Collecting more data in environments with more Collecting more data in environments with more

multipath (foliage, urban canyons, indoor multipath (foliage, urban canyons, indoor environments)environments)


ChallengesChallengesChallengesChallenges

• Exact number of arriving signals must be know Exact number of arriving signals must be know for MUSIC.for MUSIC.

• Longer coherent integration time in indoor, Longer coherent integration time in indoor, resulting in fewer synthetic antennas.resulting in fewer synthetic antennas.

• Exact number of arriving signals must be know Exact number of arriving signals must be know for MUSIC.for MUSIC.

• Longer coherent integration time in indoor, Longer coherent integration time in indoor, resulting in fewer synthetic antennas.resulting in fewer synthetic antennas.


Thank you for you attentionThank you for you attentionThank you for you attentionThank you for you attention

References:

1. Broumandan A, et al. Direction of Arrival Estimation of GNSS Signals Based on Synthetic Antenna Array. Proc. of ION GNSS07.

2. Pany T, et al. Synthetic Phased Array Antenna for Carrier/Code Multipath Mitigation. Proc. of ENC-GNSS08, Toulouse.

3. Pany T, et al. Demonstration of Synthetic Phased Array Antenna for Carrier/Code Multipath Mitigation. Proc. of GNSS08.

4. Soloviev A, et al. Synthetic Aperture GPS Signal Processing: Concept and Feasibility Demonstration. Proc. of ITM09.

5. Lin T, et al. Robust Beamforming for GNSS Synthetic Antenna Arrays, Proc. Of ION GNSS 2009, 22-25 sep 2009, Savannah, GA.

6. Van Trees, H. L., Optimum Array Processing, Part IV, Detection, Estimation and Modulation Theory, John Wiley and Sons, Inc., NY 2002.

7. Allen B, Ghavami M, Adaptive Array Systems, Fundamentals and Applications, John Wiley and Sons, Inc., 2005.

References:

1. Broumandan A, et al. Direction of Arrival Estimation of GNSS Signals Based on Synthetic Antenna Array. Proc. of ION GNSS07.

2. Pany T, et al. Synthetic Phased Array Antenna for Carrier/Code Multipath Mitigation. Proc. of ENC-GNSS08, Toulouse.

3. Pany T, et al. Demonstration of Synthetic Phased Array Antenna for Carrier/Code Multipath Mitigation. Proc. of GNSS08.

4. Soloviev A, et al. Synthetic Aperture GPS Signal Processing: Concept and Feasibility Demonstration. Proc. of ITM09.

5. Lin T, et al. Robust Beamforming for GNSS Synthetic Antenna Arrays, Proc. Of ION GNSS 2009, 22-25 sep 2009, Savannah, GA.

6. Van Trees, H. L., Optimum Array Processing, Part IV, Detection, Estimation and Modulation Theory, John Wiley and Sons, Inc., NY 2002.

7. Allen B, Ghavami M, Adaptive Array Systems, Fundamentals and Applications, John Wiley and Sons, Inc., 2005.

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