Performance analysis and enhancements for the music sub-space direction-finding algorithm in the presence of wideband signals

Includes supplementary materialThe collection of signals intelligence via passive direction finding and geolocation of radio frequency signals is of great concern to the military for its contribution to the development of battlespace awareness. Basic subspace direction finding techniques provide a method of determining the direction-of-arrival (DOA) of multiple signals on an array of receivers, but they have an inherent limitation in that they are narrowband by design. The impact of various signal frequencies, bandwidths, and signal to noise ratios present in the source signals received by a sparse array using the multiple signals classification (MUSIC) subspace direction-finding algorithm are evaluated in this thesis. Additionally, two performance enhancements are presented: one that reduces the MUSIC computational load and one that provides a method of utilizing collector motion to resolve DOA ambiguities.http://archive.org/details/performancenalys1094544676Lieutenant Commander, United States NavyApproved for public release; distribution is unlimited

Exploiting Structural Signal Information in Passive Emitter Localization

The operational use of systems for passive geolocation of radio frequency emitters poses various challenges to single sensor systems or sensor networks depending on the measurement methods. Position estimation by means of direction finding systems often requires complex receiver and antenna technique. Time (Difference) of Arrival methods (TDOA, TOA) are based on measurements regarding the signal propagation duration and generally require broadband communication links to transmit raw signal data between spatially separated receivers of a sensor network. Such bandwidth requirements are particularly challenging for applications with moving sensor nodes. This issue is addressed in this thesis and techniques that use signal structure information of the considered signals are presented which allow a drastic reduction of the communication requirements. The advantages of using knowledge of the signal structure for TDOA based emitter localization are shown using two exemplary applications. The first case example deals with the passive surveillance of the civil airspace (Air Traffic Management, ATM) using a stationary sensor network. State of the art airspace surveillance is mainly based on active radar systems (Primary Surveillance Radar, PSR), cooperative secondary radar systems (Secondary Surveillance Radar, SSR) and automatic position reports from the aircraft itself (Automatic Dependent Surveillance-Broadcast, ADS-B). SSR as well as ADS-B relies on aircrafts sending transponder signals at a center frequency of 1090 MHz. The reliability and accuracy of the position reports sent by aircrafts using ADS-B are limited and not sufficient to ensure safe airspace separation for example of two aircrafts landing on parallel runways. In the worst case, the data may even be altered with malicious intent. Using passive emitter localization and tracking based on multilateration (TDOA/hyperbolic localization), a precise situational awareness can be given which is independent of the content of the emitted transponder signals. The high concentration of sending targets and the high number of signals require special signal processing and information fusion techniques to overcome the huge amount of data. It will be shown that a multilateration network that employs those techniques can be used to improve airspace security at reasonable costs. For the second case, a concept is introduced which allows TDOA based emitter localization with only one moving observer platform. Conventional TDOA measurements are obtained using spatially distributed sensor nodes which capture an emitted signal at the same time. From those signals, the time difference of arrival is estimated. Under certain conditions, the exploitation of signal structure information allows to transfer the otherwise only spatial into a spatial and temporal measurement problem. This way, it is possible to obtain TDOA estimates over multiple measurement time steps using a single moving observer and to thus localize the emitter of the signals. The concept of direct position determination is applied to the single sensor signal structure TDOA scheme and techniques for direct single sensor TDOA are introduced. The validity and performance of the presented methods is shown in theoretical analysis in terms of Cramér-Rao Lower Bounds, Monte-Carlo simulations and by evaluation of real data gained during field experiments

Array imperfection calibration for wireless channel multipath characterisation

As one of the fastest growing technologies in modern telecommunications, wireless networking has become a very important and indispensable part in our life. A good understanding of the wireless channel and its key physical parameters are extremely useful when we want to apply them into practical applications. In wireless communications, the wireless channel refers to the propagation of electromagnetic radiation from a transmitter to a receiver. The estimation of multipath channel parameters, such as angle of depature (AoD), angle of arrival (AoA), and time difference of arrival (TDoA), is an active research problem and its typical applications are radar, communication, vehicle navigation and localization in the indoor environment where the GPS service is impractical. However, the performance of the parameter estimation deteriorates significantly in the presence of array imperfections, which include the mutual coupling, antenna location error, phase uncertainty and so on. These array imperfections are hardly to be calibrated completely via antenna design. In this thesis, we experimentally evaluate an B matrix method to cope with these array imperfection, our results shows a great improvement of AoA estimation results

Towards localisation with Doppler radar

In this thesis the author introduces a novel method for Geo Localisation via Doppler Radar. The area of research is in the three dimensional space using amplitude and magnitude measurements. Geo Localisation in mobile applications is a useful technology that enables monitoring and gathering information about objects of interest

Infrared ranging in multipath environments for indoor localization of mobile targets

Esta tesis aborda el problema de la medida de diferencias de distancia mediante señales ópticas afectadas por multicamino, aplicada a la localización de agentes móviles en espacios interiores. Los avances en robótica, entornos inteligentes y vehículos autónomos han creado un campo de aplicación específico para la localización en interiores, cuyos requerimientos de precisión (en el rango de los cm) son muy superiores a los demandados por las aplicaciones de localización orientadas a personas, en cuyo contexto se han desarrollado la mayor parte de las alternativas tecnológicas. La investigación con métodos de geometría proyectiva basados en cámaras y de multilateración basados en medida de distancia con señales de radiofrecuencia de banda ancha, de ultrasonido y ópticas han demostrado un rendimiento potencial adecuado para cubrir estos requerimientos. Sin embargo, todas estas alternativas, aún en fase de investigación, presentan dificultades que limitan su aplicación práctica. En el caso de los sistemas ópticos, escasamente estudiados en este contexto, los trabajos previos se han basado en medidas de diferencia de fase de llegada de señales infrarrojas moduladas sinusoidalmente en intensidad. Una infraestructura centralizada computa medidas diferenciales, entre receptores fijos, de la señal emitida desde el móvil a posicionar, y calcula la posición del móvil mediante trilateración hiperbólica a partir de éstas. Estas investigaciones demostraron que se pueden alcanzar precisiones de pocos centímetros; sin embargo, las interferencias por multicamino debidas a la reflexión de la señal óptica en superficies del entorno pueden degradar esta precisión hasta las decenas de centímetros dependiendo de las características del espacio. Así pues, el efecto del multicamino es actualmente la principal fuente de error en esta tecnología, y por tanto, la principal barrera a superar para su implementación en situaciones reales. En esta tesis se propone y analiza un sistema de medida con señales ópticas que permite obtener estimaciones de diferencias de distancia precisas reduciendo el efecto crítico del multicamino. El sistema propuesto introduce una modulación con secuencias de ruido pseudoaleatorio sobre la modulación sinusoidal típicamente usada para medida de fase por onda continua, y aprovecha las propiedades de ensanchamiento en frecuencia de estas secuencias para reducir el efecto del multicamino. El sistema, que realiza una doble estimación de tiempo y fase de llegada, está compuesto por una etapa de sincronización que posibilita la demodulación parcialmente coherente de la señal recibida, seguida de un medidor diferencial de fase sobre las componentes desensanchadas tras la demodulación. Las condiciones de multicamino óptico típicas en espacios interiores, con una componente de camino directo claramente dominante, permiten que el proceso de demodulación recupere más potencia del camino directo que del resto de contribuciones, reduciendo el efecto del multicamino en la estimación final. Los resultados obtenidos demuestran que la aplicación del método propuesto permitiría realizar posicionamiento a partir de señales ópticas con el rendimiento adecuando para aplicaciones de robótica y guiado de vehículos en espacios interiores; además, el progresivo aumento de la potencia y el ancho de banda de los dispositivos optoelectrónicos disponibles permite esperar un incremento considerable de las prestaciones de la propuesta en los próximos años

Super-resolved localisation in multipath environments

In the last few decades, the localisation problems have been studied extensively. There are still some open issues that remain unresolved. One of the key issues is the efficiency and preciseness of the localisation in presence of non-line-of-sight (NLoS) path. Nevertheless, the NLoS path has a high occurrence in multipath environments, but NLoS bias is viewed as a main factor to severely degrade the localisation performance. The NLoS bias would often result in extra propagation delay and angular bias. Numerous localisation methods have been proposed to deal with NLoS bias in various propagation environments, but they are tailored to some specif ic scenarios due to different prior knowledge requirements, accuracies, computational complexities, and assumptions. To super-resolve the location of mobile device (MD) without prior knowledge, we address the localisation problem by super-resolution technique due to its favourable features, such as working on continuous parameter space, reducing computational cost and good extensibility. Besides the NLoS bias, we consider an extra array directional error which implies the deviation in the orientation of the array placement. The proposed method is able to estimate the locations of MDs and self-calibrate the array directional errors simultaneously. To achieve joint localisation, we directly map MD locations and array directional error to received signals. Then the group sparsity based optimisation is proposed to exploit the geometric consistency that received paths are originating from common MDs. Note that the super-resolution framework cannot be directly applied to our localisation problems. Because the proposed objective function cannot be efficiently solved by semi-definite programming. Typical strategies focus on reducing adverse effect due to the NLoS bias by separating line-of-sight (LoS)/NLoS path or mitigating NLoS effect. The LoS path is well studied for localisation and multiple methods have been proposed in the literature. However, the number of LoS paths are typically limited and the effect of NLoS bias may not always be reduced completely. As a long-standing issue, the suitable solution of using NLoS path is still an open topic for research. Instead of dealing with NLoS bias, we present a novel localisation method that exploits both LoS and NLoS paths in the same manner. The unique feature is avoiding hard decisions on separating LoS and NLoS paths and hence relevant possible error. A grid-free sparse inverse problem is formulated for localisation which avoids error propagation between multiple stages, handles multipath in a unified way, and guarantees a global convergence. Extensive localisation experiments on different propagation environments and localisation systems are presented to illustrate the high performance of the proposed algorithm compared with theoretical analysis. In one of the case studies, single antenna access points (APs) can locate a single antenna MD even when all paths between them are NLoS, which according to the authors’ knowledge is the first time in the literature.Open Acces

Localisation d'une source d'interférence dans un système satellitaire

RÉSUMÉ Lorsqu’une source d’interférence génère un signal qui est envoyé vers un satellite, cela a˙ecte les performances du système satellitaire. Afin de faire cesser l’envoi du signal interférant, le fournisseur de service doit géolocaliser la source de l’interférence. Les systèmes de géolocalisation implémentés actuellement ne sont pas en mesure de géolocaliser la source d’interférence si celle-ci est en mouvement ou, dans le cas contraire, si la vélocité n’est pas connue à l’avance. De plus, les algorithmes de géolocalisation de source d’interférence mobile présentés dans la littérature sont difficilement implémentables dû au mauvais conditionnement des matrices générées par le problème de géolocalisation. Ainsi, le but de ce mémoire est de proposer un algorithme de géolocalisation d’une source d’interférence mobile dont on ne connaît ni la position, ni la vélocité à l’avance et dont on veut estimer les valeurs dans le temps. L’algorithme proposé utilise un filtre de Kalman de Gauss-Hermite (GHKF) pour e˙ectuer le suivi de la source d’interférence à l’aide des mesures des différences des temps d’arrivée (TDoA), différences des fréquences d’arrivée (FDoA) et différences des taux de Doppler d’arrivée (DDRoA) extraites des signaux reçus à la station de base du fournisseur de service, alors que les algorithmes actuels se limitent aux mesures de TDoA et FDoA seulement et à l’utilisation du filtre de Kalman sans-parfum(UKF). Un algorithme d’optimisation, l’algorithme des mauvaises herbes avec évolution différentielle, est utilisé au commencement du processus de géolocalisation afin de géolocaliser grossièrement la position de la source d’interférence afin de démarrer le filtre GHKF. Les simulations de l’algorithme ont permis de confirmer le fonctionnement de l’algorithme et de caractériser ses performances selon divers paramètres, dont le bruit sur les mesures et les paramètres internes de l’algorithme et du système satellitaire. Les systèmes de communication satellitaire Iridium et Globalstar ont été choisis pour simuler l’algorithme et le logiciel STK d’AGI a été utilisé afin de générer les éphémérides des satellites, afin d’obtenir des résultats réalistes. Les résultats obtenus ont permis de confirmer le fonctionnement de l’algorithme des mauvaises herbes avec évolution différentielle, du GHKF et du couplage entre les deux modules. De plus, cela montre qu’il est possible en ajoutant la mesure du DDRoA d’obtenir des estimés de la position de la source d’interférence qui soient inférieures à 3km qui est la précision minimale moyenne des systèmes de géolocalisation déjà existants, et ce, dans un cas avec une source d’interférence en mouvement. Cette recherche a donc permis d’obtenir un algorithme capable de géolocaliser précisément une source d’interférence mouvante affectant une liaison satellitaire en utilisant un module de démarrage utilisant l’algorithme d’optimisation des mauvaises herbes, ainsi qu’un filtre GHKF afin d’en effectuer le suivi.----------ABSTRACT When an interference source generates a signal that is sent to a satellite, it affects the performance of the satellite communication system. In order to stop the sending of the interfering signal, the service provider owning the satellite communication system must geolocate the source of the interference. The geolocation systems currently implemented cannot geolocate the source of interference if it is in motion or if the velocity is not known in advance in the other case. In addition, the mobile interference source geolocation algorithms presented in the literature are difficult to implement due to the poor conditioning of the matrices generated by the geolocation problem. Thus, the purpose of this thesis is to propose an algorithm to geolocate a mobile interference source whose position and velocity are not known in advance and whose values are to be estimated. The proposed algorithm uses a Gauss-Hermite Kalman filter (GHKF) to track the source of interference using time difference of arrival (TDoA), frequency difference of arrival (FDoA) and difference of doppler rates of arrival (DDRoA) measurements retrieved from signals received at the service provider base station, while the current algorithms are limited to TDoA and FDoA measurements only and the use of unscented Kalman filter (UKF). An optimization algorithm, the invasive weed algorithm with differential evolution, is used at the beginning of the geolocation process to roughly geolocate the position of the interference source in order to initialize the GHKF filter. The simulations of the algorithm have made possible to confirm the functionality of the algorithm and to characterize its performances according to various parameters, including the noise on the measurements and the internal parameters of the algorithm and the satellite system. The Iridium and Globalstar satellite communication systems were chosen to simulate the algorithm and the STK software from AGI was used to generate the satellites ephemeris in order to obtain realistic results. The results obtained confirmed the functionality of the invasive weed algorithm with differential evolution algorithm, of the GHKF and the coupling between the two modules. In addition, this shows that it is possible to obtain position estimates of the interference source with a precision less than 3km by adding the measurement of the DDRoA, which is the average maximum accuracy of the current geolocation systems. This research allowed to obtain an algorithm able to precisely geolocate a moving interference source affecting a satellite link by using a startup module using the the invasive weed algorithm with differential evolution, as well as a GHKF filter for tracking purposes

Wireless indoor localisation within the 5G internet of radio light

This thesis was submitted for the award of Doctor of Philosophy and was awarded by Brunel University LondonNumerous applications can be enhanced by accurate and efficient indoor localisation using wireless sensor networks, however trade-offs often exist between these two parameters. In this thesis, realworld and simulation data is used to examine the hybrid millimeter wave and Visible Light Communications (VLC) architecture of the 5G Internet of Radio Light (IoRL) Horizon 2020 project. Consequently, relevant localisation challenges within Visible Light Positioning (VLP) and asynchronous sampling networks are identified, and more accurate and efficient solutions are developed. Currently, VLP relies strongly on the assumed Lambertian properties of light sources. However, in practice, not all lights are Lambertian. To support the widespread deployment of VLC technology in numerous environments, measurements from non-Lambertian sources are analysed to provide new insights into the limitations of existing VLP techniques. Subsequently, a novel VLP calibration technique is proposed, and results indicate a 59% accuracy improvement against existing methods. This solution enables high accuracy centimetre level VLP to be achieved with non- Lambertian sources. Asynchronous sampling of range-based measurements is known to impact localisation performance negatively. Various Asynchronous Sampling Localisation Techniques (ASLT) exist to mitigate these effects. While effective at improving positioning performance, the exact suitability of such solutions is not evident due to their additional processes, subsequent complexity, and increased costs. As such, extensive simulations are conducted to study the effectiveness of ASLT under variable sampling latencies, sensor measurement noise, and target trajectories. Findings highlight the computational demand of existing ASLT and motivate the development of a novel solution. The proposed Kalman Extrapolated Least Squares (KELS) method achieves optimal localisation performance with a significant energy reduction of over 50% when compared to current leading ASLT. The work in this thesis demonstrates both the capability for high performance VLP from non- Lambertian sources as well as the potential for energy efficient localisation for sequentially sampled range measurements.Horizon 202

Antenas setoriais para sistemas de localização em redes de sensores sem fios

Doutoramento em Engenharia EletrotécnicaThis work investigates low cost localization systems (LS) based on received signal strength (RSS) and integrated with different types of antennas with main emphasis on sectorial antennas. The last few years have witnessed an outstanding growth in wireless sensor networks (WSN). Among its various possible applications, the localization field became a major area of research. The localization techniques based on RSS are characterized by simplicity and low cost of integration. The integration of LS based on RSS and sectorial antennas (SA) was proven to provide an effective solution for reducing the number of required nodes of the networks and allows the combination of several techniques, such as RSS and angle of arrival (AoA). This PhD thesis focuses on studying techniques, antennas and protocols that best meet the needs of each LS with main focus on low cost systems based on RSS and AoA. Firstly there are studied localization techniques and system that best suit the requirements of the user and the antennas that are most appropriate according to the nature of the signal. In this step it is intended to provide a fundamental understanding of the undertaken work. Then the developed antennas are presented according to the following categories: sectorial and microstrip antennas. Two sectorial antennas are presented: a narrowband antenna operating at 2.4 to 2.5 GHz and a broadband antenna operating at 800MHz-2.4GHz. The low cost printed antennas were designed to operate at 5 GHz, which may be used for vehicular communication. After presenting the various antennas, several prototypes of indoor/outdoor LS are implemented and analyzed. Localization protocols are also proposed, one based on simplicity and low power, and the other on interoperability with different types of antennas and system requirements.O presente trabalho investiga sistemas de localização (SL) de baixo custo baseados na intensidade do sinal (RSS) e integrados com diferentes tipos de antenas com principal destaque para antenas sectoriais. Os últimos anos testemunharam um crescimento surpreendente de redes de sensores sem fios (RSSF), onde entre diversas aplicações possíveis, a localização tornou-se uma das principais áreas de pesquisa. Técnicas baseadas na intensidade do sinal caracterizam-se pela simplicidade e baixo custo de integração. A integração de SL baseados na intensidade do sinal recebido e antenas sectoriais (AS) oferecem uma solução eficaz para reduzir o número de nós necessários e para combinar diversas técnicas de localização. Esta tese de doutoramento foca-se no estudado de técnicas, antenas e protocolos de acordo com os requisitos de cada sistema localização com especial atenção para sistemas de baixo custo baseados na intensidade do sinal e no ângulo de chegada. Inicialmente são estudadas técnicas e SL de acordo com as necessidades do utilizador e as antenas que melhor se enquadram de acordo com a natureza do sinal. Esta etapa tem como objectivo proporcionar a compreensão fundamental do trabalho desenvolvido. Em seguida são apresentadas as antenas desenvolvidas divididas em: antenas sectorias e antenas impressas de baixo custo. Duas antenas sectoriais são apresentadas: uma de banda estreita a operar a 2,4-2,5GHz e outro de banda larga 800MHz-2.4GHz. As antenas impressas foram desenvolvidas para operar a 5 GHz, pelo que podem ser utilizadas para comunicação veicular. Após apresentação das diversas antenas vários protótipos de SL interiores/exteriores são implementados e analisados. Protocolos de localização são também propostos, um baseado na simplicidade e baixo consumo, outro na interoperabilidade com diferentes tipos de antenas e requisitos do sistema