16 research outputs found

    Polarization techniques for mitigation of low grazing angle sea clutter

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    Maritime surveillance radars are critical in commerce, transportation, navigation, and defense. However, the sea environment is perhaps the most challenging of natural radar backdrops because maritime radars must contend with electromagnetic backscatter from the sea surface, or sea clutter. Sea clutter poses unique challenges in very low grazing angle geometries, where typical statistical assumptions regarding sea clutter backscatter do not hold. As a result, traditional constant false alarm rate (CFAR) detection schemes may yield a large number of false alarms while objects of interest may be challenging to detect. Solutions posed in the literature to date have been either computationally impractical or lacked robustness. This dissertation explores whether fully polarimetric radar offers a means of enhancing detection performance in low grazing angle sea clutter. To this end, MIT Lincoln Laboratory funded an experimental data collection using a fully polarimetric X-band radar assembled largely from commercial off-the-shelf components. The Point de Chene Dataset, collected on the Atlantic coast of Massachusetts’ Cape Ann in October 2015, comprises multiple sea states, bandwidths, and various objects of opportunity. The dataset also comprises three different polarimetric transmit schemes. In addition to discussing the radar, the dataset, and associated post-processing, this dissertation presents a derivation showing that an established multiple input, multiple output radar technique provides a novel means of simultaneous polarimetric scattering matrix measurement. A novel scheme for polarimetric radar calibration using a single active calibration target is also presented. Subsequent research leveraged this dataset to develop Polarimetric Co-location Layering (PCL), a practical algorithm for mitigation of low grazing angle sea clutter, which is the most significant contribution of this dissertation. PCL routinely achieves a significant reduction in the standard CFAR false alarm rate while maintaining detections on objects of interest. Moreover, PCL is elegant: It exploits fundamental characteristics of both sea clutter and object returns to determine which CFAR detections are due to sea clutter. We demonstrate that PCL is robust across a range of bandwidths, pulse repetition frequencies, and object types. Finally, we show that PCL integrates in parallel into the standard radar signal processing chain without incurring a computational time penalty

    Contribuições analíticas para sistemas de radar modernos

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    Orientador: José Cândido Silveira Santos FilhoTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Elétrica e de ComputaçãoResumo: Esta tese tem como objetivo avançar no campo de sistemas de radar ao lidar com os seguintes problemas centrais: (i) detecção de alvos distribuídos e pontuais imersos em ruído Gaussiano branco complexo; (ii) desempenho de sistemas de radar na presença de clutter terrestre do tipo Weibull; e (iii) estimação Doppler para alvos de alta velocidade sob ruído Gaussiano de fundo. A primeira parte da tese (Capítulos 2-4) ataca o primeiro problema, por meio do projeto e da análise de detectores phased array ótimos e subótimos para alvos distribuídos e alvos pontuais não-flutuantes. Para cada detector, as estatísticas da variável de decisão são analisadas sob a hipótese de algum - ou mesmo nenhum - conhecimento acerca dos parâmetros do alvo e da potência média do ruído. A partir daí, calculam-se a probabilidade de detecção e a probabilidade de falso alarme. A segunda parte da tese (Capítulos 5 e 6) confronta o segundo problema, fornecendo ferramentas matemáticas eficientes para avaliar o desempenho de um detector square-law operando em clutter terrestre do tipo Weibull. Aqui, as probabilidades de detecção e falso alarme são obtidas em forma fechada e em representação por séries de convergência rápida. Para isso, faz-se uso da função-H de Fox, bem como de um cálculo abrangente de resíduos. Finalmente, na terceira parte da tese (Capítulo 7), é fornecida uma análise estatística completa da estimação Doppler de alvos com alta velocidade sujeitos a ruído Gaussiano de fundo. A solução apresentada combina duas técnicas de processamento de sinais: o processamento de subpulso e o Teorema Chinês do Resto clássico. Além disso, o desempenho dessa técnica híbrida é avaliado em forma fechada. Vale ressaltar que todas as expressões supracitadas da tese são contribuições originais, com destaque para aquelas obtidas em representações por série, que se mostram atrativas pela ampla economia tanto de tempo de execução quanto de carga computacionalAbstract: This dissertation aims to advance in the field of radar systems by dealing with the following key problems: (i) detection of distributed and point-like targets embedded in complex white Gaussian noise; (ii) radar performance in the presence of Weibull-distributed ground clutter; and (iii) doppler estimation for high-velocity targets in background Gaussian noise. The first part of this dissertation (Chapters 2-4) addresses the first problem by designing and analyzing optimal and suboptimal phased-array detectors for distributed and non-fluctuating point-like targets. For each detector, the decision-variable statistics are investigated assuming a certain or no knowledge about the parameters of the target echoes and the average noise power. In each case, the probability of detection and the probability of false alarm are derived. The second part of this dissertation (Chapters 5 and 6) addresses the second problem by providing efficient mathematical tools to evaluate the performance of a square-law detector operating in Weibull-distributed ground clutter. In this case, the probabilities of detection and false alarm are expressed in terms of both closed-form expressions and fast convergent series. To do so, we rely upon the Fox H-function as well as a comprehensive calculus of residues. Finally, in the third part of this dissertation (Chapter 7), we provide a thorough statistical analysis for the Doppler estimation of high-speed targets in background Gaussian noise. The proposed solution combines two signal processing techniques: subpulse processing and the classic Chinese Remainder Theorem. Also, the performance of this hybrid technique is assessed in closed form. It is worth mentioning that all the aforementioned expressions from this dissertation are original contributions, with emphasis on those obtained in terms of series representations, which proved attractive for large savings in both execution time and computational loadDoutoradoTelecomunicações e TelemáticaCAPE

    A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics

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    We survey the current state of millimeterwave (mmWave) radar applications in robotics with a focus on unique capabilities, and discuss future opportunities based on the state of the art. Frequency Modulated Continuous Wave (FMCW) mmWave radars operating in the 76--81GHz range are an appealing alternative to lidars, cameras and other sensors operating in the near visual spectrum. Radar has been made more widely available in new packaging classes, more convenient for robotics and its longer wavelengths have the ability to bypass visual clutter such as fog, dust, and smoke. We begin by covering radar principles as they relate to robotics. We then review the relevant new research across a broad spectrum of robotics applications beginning with motion estimation, localization, and mapping. We then cover object detection and classification, and then close with an analysis of current datasets and calibration techniques that provide entry points into radar research.Comment: 19 Pages, 11 Figures, 2 Tables, TRO Submission pendin

    Signal processing architectures for automotive high-resolution MIMO radar systems

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    To date, the digital signal processing for an automotive radar sensor has been handled in an efficient way by general purpose signal processors and microcontrollers. However, increasing resolution requirements for automated driving on the one hand, as well as rapidly growing numbers of manufactured sensors on the other hand, can provoke a paradigm change in the near future. The design and development of highly specialized hardware accelerators could become a viable option - at least for the most demanding processing steps with data rates of several gigabits per second. In this work, application-specific signal processing architectures for future high-resolution multiple-input and multiple-output (MIMO) radar sensors are designed, implemented, investigated and optimized. A focus is set on real-time performance such that even sophisticated algorithms can be computed sufficiently fast. The full processing chain from the received baseband signals to a list of detections is considered, comprising three major steps: Spectrum analysis, target detection and direction of arrival estimation. The developed architectures are further implemented on a field-programmable gate array (FPGA) and important measurements like resource consumption, power dissipation or data throughput are evaluated and compared with other examples from literature. A substantial dataset, based on more than 3600 different parametrizations and variants, has been established with the help of a model-based design space exploration and is provided as part of this work. Finally, an experimental radar sensor has been built and is used under real-world conditions to verify the effectiveness of the proposed signal processing architectures.Bisher wurde die digitale Signalverarbeitung für automobile Radarsensoren auf eine effiziente Art und Weise von universell verwendbaren Mikroprozessoren bewältigt. Jedoch können steigende Anforderungen an das Auflösungsvermögen für hochautomatisiertes Fahren einerseits, sowie schnell wachsende Stückzahlen produzierter Sensoren andererseits, einen Paradigmenwechsel in naher Zukunft bewirken. Die Entwicklung von hochgradig spezialisierten Hardwarebeschleunigern könnte sich als eine praktikable Alternative etablieren - zumindest für die anspruchsvollsten Rechenschritte mit Datenraten von mehreren Gigabits pro Sekunde. In dieser Arbeit werden anwendungsspezifische Signalverarbeitungsarchitekturen für zukünftige, hochauflösende, MIMO Radarsensoren entworfen, realisiert, untersucht und optimiert. Der Fokus liegt dabei stets auf der Echtzeitfähigkeit, sodass selbst anspruchsvolle Algorithmen in einer ausreichend kurzen Zeit berechnet werden können. Die komplette Signalverarbeitungskette, beginnend von den empfangenen Signalen im Basisband bis hin zu einer Liste von Detektion, wird in dieser Arbeit behandelt. Die Kette gliedert sich im Wesentlichen in drei größere Teilschritte: Spektralanalyse, Zieldetektion und Winkelschätzung. Des Weiteren werden die entwickelten Architekturen auf einem FPGA implementiert und wichtige Kennzahlen wie Ressourcenverbrauch, Stromverbrauch oder Datendurchsatz ausgewertet und mit anderen Beispielen aus der Literatur verglichen. Ein umfangreicher Datensatz, welcher mehr als 3600 verschiedene Parametrisierungen und Varianten beinhaltet, wurde mit Hilfe einer modellbasierten Entwurfsraumexploration erstellt und ist in dieser Arbeit enthalten. Schließlich wurde ein experimenteller Radarsensor aufgebaut und dazu benutzt, die entworfenen Signalverarbeitungsarchitekturen unter realen Umgebungsbedingungen zu verifizieren

    Wideband Spectrum Sensing for Dynamic Spectrum Sharing

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    The proliferation of wireless devices grows exponentially, demanding more and more data communication capacity over wireless links. Radio spectrum is a scarce resource, and traditional wireless networks deployed by Mobile Network Operators (MNO) are based on an exclusive spectrum band allocation. However, underutilization of some licensed bands in time and geographic domains has been reported, especially in rural areas or areas away from high population density zones. This coexistence of increasingly high data communication needs and spectrum underutilization is an incomprehensible scenario. A more rational and efficient use of the spectrum is the possibility of Licensed Users (known as Primary Users – PU) to lease the spectrum, when not in use, to Unlicensed Users (known as Secondary Users – SU), or allowing the SU to opportunistically use the spectrum after sensing and verifying that the PU is idle. In this latter case, the SU must stop transmitting when the PU becomes active. This thesis addresses the spectrum sensing task, which is essential to provide dynamic spectrum sharing between PUs and SUs. We show that the Spectral Correlation Function (SCF) and the Spectral Coherence Function (SCoF) can provide a robust signal detection algorithm by exploiting the cyclostationary characteristics of the data communication signal. We enhance the most used algorithm to compute de SCF - the FAM (FFT Accumulation Method) algorithm – to efficiently compute the SCF in a local/zoomed region of the support ( ; ) plane (frequency/cycle frequency plane). This will provide the quick identification of spectral bands in use by PUs or free, in a wideband sampling scenario. Further, the characterization of the probability density of the estimates of the SCF and SCoF when only noise is present, using the FAM algorithm, will allow the definition of an adaptive threshold to develop a blind (with respect to the noise statistics) Constant False Alarm Rate (CFAR) detector (using the SCoF) and also a CFAR and a Constant Detection Rate (CDR) detector when that characterization is used to obtain an estimate of the background noise variance (using the SCF).A proliferação de dispositivos sem fios cresce de forma exponencial, exigindo cada vez mais capacidade de comunicação de dados através de ligações sem fios. O espectro radioelétrico é um recurso escasso, e as redes sem fios tradicionais implantadas pelos Operadores de Redes Móveis baseiam-se numa atribuição exclusiva de bandas do espectro. No entanto, tem sido relatada a subutilização de algumas bandas licenciadas quer ao longo do tempo, quer na sua localização geográfica, especialmente em áreas rurais, e em áreas longe de zonas de elevada densidade populacional. A coexistência da necessidade cada vez maior de comunicação de dados, e a subutilização do espectro é um cenário incompreensível. Uma utilização mais racional e eficiente do espectro pressupõe a possibilidade dos Utilizadores Licenciados (conhecidos como Utilizadores Primários – Primary Users - PU) alugarem o espectro, quando este não está a ser utilizado, a Utilizadores Não Licenciados (conhecidos como Utilizadores Secundários – Secondary Users - SU), ou permitir ao SU utilizar oportunisticamente o espectro após a deteção e verificação de que o PU está inativo. Neste último caso, o SU deverá parar de transmitir quando o PU ficar ativo. Nesta tese é abordada a tarefa de deteção espectral, que é essencial para proporcionar a partilha dinâmica do espectro entre PUs e SUs. Mostra-se que a Função de Correlação Espectral (Spectral Correlation Function - SCF) e a Função de Coerência Espectral (Spectral Coherence Function - SCoF) permitem o desenvolvimento de um algoritmo robusto de deteção de sinal, explorando as características ciclo-estacionárias dos sinais de comunicação de dados. Propõe-se uma melhoria ao algoritmo mais utilizado para cálculo da SCF – o método FAM (FFT Accumulation Method) - para permitir o cálculo mais eficiente da SCF numa região local/ampliada do plano de suporte / (plano de frequência/frequência de ciclo). Esta melhoria permite a identificação rápida de bandas espectrais em uso por PUs ou livres, num cenário de amostragem de banda larga. Adicionalmente, é feita a caracterização da densidade de probabilidade das estimativas da SCF e SCoF quando apenas o ruído está presente, o que permite a definição de um limiar adaptativo, para desenvolver um detetor de Taxa de Falso Alarme Constante (Constant False Alarm Rate – CFAR) sem conhecimento do ruído de fundo (usando a SCoF) e também um detetor CFAR e Taxa de Deteção Constante (Constant Detection Rate – CDR), quando se utiliza aquela caracterização para obter uma estimativa da variância do ruído de fundo (usando a SCF)

    Doppler frequency estimation in pulse doppler radar systems

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    Ankara : The Department of Electrical and Electronics Engineering and the Institute of Engineering and Sciences of Bilkent University, 2009.Thesis (Master's) -- Bilkent University, 2009.Includes bibliographical references leaves 59-62.Pulse Doppler radar systems are one of the most common types of radar systems, especially in military applications. These radars are mainly designed to estimate two basic parameters of the targets, range and Doppler frequency. A common procedure of estimating those parameters is matched filtering, followed by pulse Doppler processing, and finally one of the several constant false alarm rate (CFAR) algorithms. However, because of the structure of the waveform obtained after pulse Doppler processing, CFAR algorithms cannot always find the Doppler frequency of a target accurately. In this thesis, two different algorithms, maximum selection and successive cancelation, are proposed and their performances are compared with the optimal maximum likelihood (ML) solution. These proposed algorithms both utilize the advantage of knowing the waveform structure of a point target obtained after pulse Doppler processing in the Doppler frequency domain. Maximum selection basically chooses the Doppler frequency cells with the largest amplitudes to be the ones where there is a target. On the other hand, successive cancelation is an iterative algorithm. In each iteration, it finds a target that minimizes a specific cost function, until there are no more targets. The performances of these algorithms are investigated for several different point target scenarios. Moreover, the performances of the algorithms are tested on some realistic target models. Based on all those observations, it is concluded that maximum selection is a good choice for high SNR values when a low-complexity algorithm is needed, on the other hand, successive cancelation performs almost as well as the optimal solution at all SNR values.Soğancı, HamzaM.S

    Modeling and Mitigation of Wireless Communications Interference for Spectrum Sharing with Radar

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    Due to both economic incentives and policy mandates, researchers increasingly face the challenge of enabling spectrum sharing between radar and wireless communications systems. In the past eight years, researchers have begun to suggest a wide variety of approaches to radar-communications spectrum sharing, ranging from transmitter design to receiver design, from spatial to temporal to other-dimensional multiplexing, and from cooperative to non-cooperative sharing. Within this diverse field of innovation, this dissertation makes two primary contributions. First, a model for wireless communications interference and its effects on adaptive-threshold radar detection is proposed. Based on both theoretical and empirical study, we find evidence for both Gaussian and non-Gaussian communications interference models, depending on the modeling situation. Further, such interference can impact radar receivers via two mechanisms—model mismatch and boost to the underlying noise floor—and both mechanisms deserve attention. Second, an innovative signal processing algorithm is proposed for radar detection in the presence of cyclostationary, linearly-modulated, digital communications (LMDC) interference (such as OFDM or CDMA) and a stationary background component. The proposed detector consists of a novel whitening filter followed by the traditional matched filter. Performance results indicate that the proposed cyclostationary-based detector outperforms a standard equivalent detector based on a stationary interference model, particularly when the number of cyclostationary LMDC transmitters is small and their interference-to-noise ratio (INR) is large relative to the stationary background

    Study to investigate and evaluate means of optimizing the radar function

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    The investigations for a rendezvous radar system design and an integrated radar/communication system design are presented. Based on these investigations, system block diagrams are given and system parameters are optimized for the noncoherent pulse and coherent pulse Doppler radar modulation types. Both cooperative (transponder) and passive radar operation are examined including the optimization of the corresponding transponder design for the cooperative mode of operation

    GNSS array-based acquisition: theory and implementation

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    This Dissertation addresses the signal acquisition problem using antenna arrays in the general framework of Global Navigation Satellite Systems (GNSS) receivers. The term GNSS classi es those navigation systems based on a constellation of satellites, which emit ranging signals useful for positioning. Although the American GPS is already available, which coexists with the renewed Russian Glonass, the forthcoming European contribution (Galileo) along with the Chinese Compass will be operative soon. Therefore, a variety of satellite constellations and signals will be available in the next years. GNSSs provide the necessary infrastructures for a myriad of applications and services that demand a robust and accurate positioning service. The positioning availability must be guaranteed all the time, specially in safety-critical and mission-critical services. Examining the threats against the service availability, it is important to take into account that all the present and the forthcoming GNSSs make use of Code Division Multiple Access (CDMA) techniques. The ranging signals are received with very low precorrelation signal-to-noise ratio (in the order of ���22 dB for a receiver operating at the Earth surface). Despite that the GNSS CDMA processing gain o ers limited protection against Radio Frequency interferences (RFI), an interference with a interference-to-signal power ratio that exceeds the processing gain can easily degrade receivers' performance or even deny completely the GNSS service, specially conventional receivers equipped with minimal or basic level of protection towards RFIs. As a consequence, RFIs (either intentional or unintentional) remain as the most important cause of performance degradation. A growing concern of this problem has appeared in recent times. Focusing our attention on the GNSS receiver, it is known that signal acquisition has the lowest sensitivity of the whole receiver operation, and, consequently, it becomes the performance bottleneck in the presence of interfering signals. A single-antenna receiver can make use of time and frequency diversity to mitigate interferences, even though the performance of these techniques is compromised in low SNR scenarios or in the presence of wideband interferences. On the other hand, antenna arrays receivers can bene t from spatial-domain processing, and thus mitigate the e ects of interfering signals. Spatial diversity has been traditionally applied to the signal tracking operation of GNSS receivers. However, initial tracking conditions depend on signal acquisition, and there are a number of scenarios in which the acquisition process can fail as stated before. Surprisingly, to the best of our knowledge, the application of antenna arrays to GNSS signal acquisition has not received much attention. This Thesis pursues a twofold objective: on the one hand, it proposes novel arraybased acquisition algorithms using a well-established statistical detection theory framework, and on the other hand demonstrates both their real-time implementation feasibility and their performance in realistic scenarios. The Dissertation starts with a brief introduction to GNSS receivers fundamentals, providing some details about the navigation signals structure and the receiver's architecture of both GPS and Galileo systems. It follows with an analysis of GNSS signal acquisition as a detection problem, using the Neyman-Pearson (NP) detection theory framework and the single-antenna acquisition signal model. The NP approach is used here to derive both the optimum detector (known as clairvoyant detector ) and the sov called Generalized Likelihood Ratio Test (GLRT) detector, which is the basis of almost all of the current state-of-the-art acquisition algorithms. Going further, a novel detector test statistic intended to jointly acquire a set of GNSS satellites is obtained, thus reducing both the acquisition time and the required computational resources. The eff ects of the front-end bandwidth in the acquisition are also taken into account. Then, the GLRT is extended to the array signal model to obtain an original detector which is able to mitigate temporally uncorrelated interferences even if the array is unstructured and moderately uncalibrated, thus becoming one of the main contributions of this Dissertation. The key statistical feature is the assumption of an arbitrary and unknown covariance noise matrix, which attempts to capture the statistical behavior of the interferences and other non-desirable signals, while exploiting the spatial dimension provided by antenna arrays. Closed form expressions for the detection and false alarm probabilities are provided. Performance and interference rejection capability are modeled and compared both to their theoretical bound. The proposed array-based acquisition algorithm is also compared to conventional acquisition techniques performed after blind null-steering beamformer approaches, such as the power minimization algorithm. Furthermore, the detector is analyzed under realistic conditions, accounting for the presence of errors in the covariance matrix estimation, residual Doppler and delay errors, and signal quantization e ects. Theoretical results are supported by Monte Carlo simulations. As another main contribution of this Dissertation, the second part of the work deals with the design and the implementation of a novel Field Programmable Gate Array (FPGA)-based GNSS real-time antenna-array receiver platform. The platform is intended to be used as a research tool tightly coupled with software de ned GNSS receivers. A complete signal reception chain including the antenna array and the multichannel phase-coherent RF front-end for the GPS L1/ Galileo E1 was designed, implemented and tested. The details of the digital processing section of the platform, such as the array signal statistics extraction modules, are also provided. The design trade-o s and the implementation complexities were carefully analyzed and taken into account. As a proof-of-concept, the problem of GNSS vulnerability to interferences was addressed using the presented platform. The array-based acquisition algorithms introduced in this Dissertation were implemented and tested under realistic conditions. The performance of the algorithms were compared to single antenna acquisition techniques, measured under strong in-band interference scenarios, including narrow/wide band interferers and communication signals. The platform was designed to demonstrate the implementation feasibility of novel array-based acquisition algorithms, leaving the rest of the receiver operations (mainly, tracking, navigation message decoding, code and phase observables, and basic Position, Velocity and Time (PVT) solution) to a Software De ned Radio (SDR) receiver running in a personal computer, processing in real-time the spatially- ltered signal sample stream coming from the platform using a Gigabit Ethernet bus data link. In the last part of this Dissertation, we close the loop by designing and implementing such software receiver. The proposed software receiver targets multi-constellation/multi-frequency architectures, pursuing the goals of e ciency, modularity, interoperability, and exibility demanded by user domains that require non-standard features, such as intermediate signals or data extraction and algorithms interchangeability. In this context, we introduce an open-source, real-time GNSS software de ned receiver (so-named GNSS-SDR) that contributes with several novel features such as the use of software design patterns and shared memory techniques to manage e ciently the data ow between receiver blocks, the use of hardware-accelerated instructions for time-consuming vector operations like carrier wipe-o and code correlation, and the availability to compile and run on multiple software platforms and hardware architectures. At this time of writing (April 2012), the receiver enjoys of a 2-dimensional Distance Root Mean Square (DRMS) error lower than 2 meters for a GPS L1 C/A scenario with 8 satellites in lock and a Horizontal Dilution Of Precision (HDOP) of 1.2.Esta tesis aborda el problema de la adquisición de la señal usando arrays de antenas en el marco general de los receptores de Sistemas Globales de Navegación por Satélite (GNSS). El término GNSS engloba aquellos sistemas de navegación basados en una constelación de satélites que emiten señales útiles para el posicionamiento. Aunque el GPS americano ya está disponible, coexistiendo con el renovado sistema ruso GLONASS, actualmente se está realizando un gran esfuerzo para que la contribución europea (Galileo), junto con el nuevo sistema chino Compass, estén operativos en breve. Por lo tanto, una gran variedad de constelaciones de satélites y señales estarán disponibles en los próximos años. Estos sistemas proporcionan las infraestructuras necesarias para una multitud de aplicaciones y servicios que demandan un servicio de posicionamiento confiable y preciso. La disponibilidad de posicionamiento se debe garantizar en todo momento, especialmente en los servicios críticos para la seguridad de las personas y los bienes. Cuando examinamos las amenazas de la disponibilidad del servicio que ofrecen los GNSSs, es importante tener en cuenta que todos los sistemas presentes y los sistemas futuros ya planificados hacen uso de técnicas de multiplexación por división de código (CDMA). Las señales transmitidas por los satélites son recibidas con una relación señal-ruido (SNR) muy baja, medida antes de la correlación (del orden de -22 dB para un receptor ubicado en la superficie de la tierra). A pesar de que la ganancia de procesado CDMA ofrece una protección inherente contra las interferencias de radiofrecuencia (RFI), esta protección es limitada. Una interferencia con una relación de potencia de interferencia a potencia de la señal que excede la ganancia de procesado puede degradar el rendimiento de los receptores o incluso negar por completo el servicio GNSS. Este riesgo es especialmente importante en receptores convencionales equipados con un nivel mínimo o básico de protección frente las RFIs. Como consecuencia, las RFIs (ya sean intencionadas o no intencionadas), se identifican como la causa más importante de la degradación del rendimiento en GNSS. El problema esta causando una preocupación creciente en los últimos tiempos, ya que cada vez hay más servicios que dependen de los GNSSs Si centramos la atención en el receptor GNSS, es conocido que la adquisición de la señal tiene la menor sensibilidad de todas las operaciones del receptor, y, en consecuencia, se convierte en el factor limitador en la presencia de señales interferentes. Un receptor de una sola antena puede hacer uso de la diversidad en tiempo y frecuencia para mitigar las interferencias, aunque el rendimiento de estas técnicas se ve comprometido en escenarios con baja SNR o en presencia de interferencias de banda ancha. Por otro lado, los receptores basados en múltiples antenas se pueden beneficiar del procesado espacial, y por lo tanto mitigar los efectos de las señales interferentes. La diversidad espacial se ha aplicado tradicionalmente a la operación de tracking de la señal en receptores GNSS. Sin embargo, las condiciones iniciales del tracking dependen del resultado de la adquisición de la señal, y como hemos visto antes, hay un número de situaciones en las que el proceso de adquisición puede fallar. En base a nuestro grado de conocimiento, la aplicación de los arrays de antenas a la adquisición de la señal GNSS no ha recibido mucha atención, sorprendentemente. El objetivo de esta tesis doctoral es doble: por un lado, proponer nuevos algoritmos para la adquisición basados en arrays de antenas, usando como marco la teoría de la detección de señal estadística, y por otro lado, demostrar la viabilidad de su implementación y ejecución en tiempo real, así como su medir su rendimiento en escenarios realistas. La tesis comienza con una breve introducción a los fundamentos de los receptores GNSS, proporcionando algunos detalles sobre la estructura de las señales de navegación y la arquitectura del receptor aplicada a los sistemas GPS y Galileo. Continua con el análisis de la adquisición GNSS como un problema de detección, aplicando la teoría del detector Neyman-Pearson (NP) y el modelo de señal de una única antena. El marco teórico del detector NP se utiliza aquí para derivar tanto el detector óptimo (conocido como detector clarividente) como la denominada Prueba Generalizada de la Razón de Verosimilitud (en inglés, Generalized Likelihood Ratio Test (GLRT)), que forma la base de prácticamente todos los algoritmos de adquisición del estado del arte actual. Yendo más lejos, proponemos un nuevo detector diseñado para adquirir simultáneamente un conjunto de satélites, por lo tanto, obtiene una reducción del tiempo de adquisición y de los recursos computacionales necesarios en el proceso, respecto a las técnicas convencionales. El efecto del ancho de banda del receptor también se ha tenido en cuenta en los análisis. A continuación, el detector GLRT se extiende al modelo de señal de array de antenas para obtener un detector nuevo que es capaz de mitigar interferencias no correladas temporalmente, incluso utilizando arrays no estructurados y moderadamente descalibrados, convirtiéndose así en una de las principales aportaciones de esta tesis. La clave del detector es asumir una matriz de covarianza de ruido arbitraria y desconocida en el modelo de señal, que trata de captar el comportamiento estadístico de las interferencias y otras señales no deseadas, mientras que utiliza la dimensión espacial proporcionada por los arrays de antenas. Se han derivado las expresiones que modelan las probabilidades teóricas de detección y falsa alarma. El rendimiento del detector y su capacidad de rechazo a interferencias se han modelado y comparado con su límite teórico. El algoritmo propuesto también ha sido comparado con técnicas de adquisición convencionales, ejecutadas utilizando la salida de conformadores de haz que utilizan algoritmos de filtrado de interferencias, como el algoritmo de minimización de la potencia. Además, el detector se ha analizado bajo condiciones realistas, representadas con la presencia de errores en la estimación de covarianzas, errores residuales en la estimación del Doppler y el retardo de señal, y los efectos de la cuantificación. Los resultados teóricos se apoyan en simulaciones de Monte Carlo. Como otra contribución principal de esta tesis, la segunda parte del trabajo trata sobre el diseño y la implementación de una nueva plataforma para receptores GNSS en tiempo real basados en array de antenas que utiliza la tecnología de matriz programable de puertas lógicas (en ingles Field Programmable Gate Array (FPGA)). La plataforma está destinada a ser utilizada como una herramienta de investigación estrechamente acoplada con receptores GNSS definidos por software. Se ha diseñado, implementado y verificado la cadena completa de recepción, incluyendo el array de antenas y el front-end multi-canal para las señales GPS L1 y Galileo E1. El documento explica en detalle el procesado de señal que se realiza, como por ejemplo, la implementación del módulo de extracción de estadísticas de la señal. Los compromisos de diseño y las complejidades derivadas han sido cuidadosamente analizadas y tenidas en cuenta. La plataforma ha sido utilizada como prueba de concepto para solucionar el problema presentado de la vulnerabilidad del GNSS a las interferencias. Los algoritmos de adquisición introducidos en esta tesis se han implementado y probado en condiciones realistas. El rendimiento de los algoritmos se comparó con las técnicas de adquisición basadas en una sola antena. Se han realizado pruebas en escenarios que contienen interferencias dentro de la banda GNSS, incluyendo interferencias de banda estrecha y banda ancha y señales de comunicación. La plataforma fue diseñada para demostrar la viabilidad de la implementación de nuevos algoritmos de adquisición basados en array de antenas, dejando el resto de las operaciones del receptor (principalmente, los módulos de tracking, decodificación del mensaje de navegación, los observables de código y fase, y la solución básica de Posición, Velocidad y Tiempo (PVT)) a un receptor basado en el concepto de Radio Definida por Software (SDR), el cual se ejecuta en un ordenador personal. El receptor procesa en tiempo real las muestras de la señal filltradas espacialmente, transmitidas usando el bus de datos Gigabit Ethernet. En la última parte de esta Tesis, cerramos ciclo diseñando e implementando completamente este receptor basado en software. El receptor propuesto está dirigido a las arquitecturas de multi-constalación GNSS y multi-frecuencia, persiguiendo los objetivos de eficiencia, modularidad, interoperabilidad y flexibilidad demandada por los usuarios que requieren características no estándar, tales como la extracción de señales intermedias o de datos y intercambio de algoritmos. En este contexto, se presenta un receptor de código abierto que puede trabajar en tiempo real, llamado GNSS-SDR, que contribuye con varias características nuevas. Entre ellas destacan el uso de patrones de diseño de software y técnicas de memoria compartida para administrar de manera eficiente el uso de datos entre los bloques del receptor, el uso de la aceleración por hardware para las operaciones vectoriales más costosas, como la eliminación de la frecuencia Doppler y la correlación de código, y la disponibilidad para compilar y ejecutar el receptor en múltiples plataformas de software y arquitecturas de hardware. A fecha de la escritura de esta Tesis (abril de 2012), el receptor obtiene un rendimiento basado en la medida de la raíz cuadrada del error cuadrático medio en la distancia bidimensional (en inglés, 2-dimensional Distance Root Mean Square (DRMS) error) menor de 2 metros para un escenario GPS L1 C/A con 8 satélites visibles y una dilución de la precisión horizontal (en inglés, Horizontal Dilution Of Precision (HDOP)) de 1.2
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