An extension of the RiMAX multipath estimation algorithm for ultra-wideband channel modeling

This work presents an extension of the high-resolution RiMAX multipath estimation algorithm, enabling the analysis of frequency-dependent propagation parameters for ultra-wideband (UWB) channel modeling. Since RiMAX is a narrowband algorithm, it does not account for the frequency-dependency of the radio channel or the environment. As such, the impact of certain materials in which these systems operate can no longer be considered constant with respect to frequency, preventing an accurate estimation of multipath parameters for UWB communication. In order to track both the specular and dense multipath components (SMC and DMC) over frequency, an extension to the RiMAX algorithm was developed that can process UWB measurement data. The advantage of our approach is that geometrical propagation parameters do not appear or disappear from one sub-band onto the next. The UWB-RiMAX algorithm makes it possible to re-evaluate common radio channel parameters for DMC in the wideband scenario, and to extend the well-known deterministic propagation model comprising of SMC alone, towards a more hybrid model containing the stochastic contributions from the DMC's distributed diffuse scattering as well. Our algorithm was tested with synthetic radio channel models in an indoor environment, which show that our algorithm can match up to 99% of the SMC parameters according to the multipath component distance (MCD) metric and that the DMC reverberation time known from the theory of room electromagnetics can be estimated on average with an error margin of less than 2 ns throughout the UWB frequency band. We also present some preliminary results in an indoor environment, which indicate a strong presence of DMC and thus diffuse scattering. The DMC power represents up to 50% of the total measured power for the lower UWB frequencies and reduces to around 30% for the higher UWB frequencies

A Review of Radio Frequency Based Localization for Aerial and Ground Robots with 5G Future Perspectives

Efficient localization plays a vital role in many modern applications of Unmanned Ground Vehicles (UGV) and Unmanned aerial vehicles (UAVs), which would contribute to improved control, safety, power economy, etc. The ubiquitous 5G NR (New Radio) cellular network will provide new opportunities for enhancing localization of UAVs and UGVs. In this paper, we review the radio frequency (RF) based approaches for localization. We review the RF features that can be utilized for localization and investigate the current methods suitable for Unmanned vehicles under two general categories: range-based and fingerprinting. The existing state-of-the-art literature on RF-based localization for both UAVs and UGVs is examined, and the envisioned 5G NR for localization enhancement, and the future research direction are explored

Autonomous Vehicles: MMW Radar Backscattering Modeling of Traffic Environment, Vehicular Communication Modeling, and Antenna Designs

77 GHz Millimeter-wave (mmWave) radar serves as an essential component among many sensors required for autonomous navigation. High-fidelity simulation is indispensable for nowadays’ development of advanced automotive radar systems because radar simulation can accelerate the design and testing process and help people to better understand and process the radar data. The main challenge in automotive radar simulation is to simulate the complex scattering behavior of various targets in real time, which is required for sensor fusion with other sensory simulation, e.g. optical image simulation. In this thesis, an asymptotic method based on a fast-wideband physical optics (PO) calculation is developed and applied to get high fidelity radar response of traffic scenes and generate the corresponding radar images from traffic targets. The targets include pedestrians, vehicles, and other stationary targets. To further accelerate the simulation into real time, a physics-based statistical approach is developed. The RCS of targets are fit into statistical distributions, and then the statistical parameters are summarized as functions of range and aspect angles, and other attributes of the targets. For advanced radar with multiple transmitters and receivers, pixelated-scatterer statistical RCS models are developed to represent objects as extend targets and relax the requirement for far-field condition. A real-time radar scene simulation software, which will be referred to as Michigan Automotive Radar Scene Simulator (MARSS), based on the statistical models are developed and integrated with a physical 3D scene generation software (Unreal Engine 4). One of the major challenges in radar signal processing is to detect the angle of arrival (AOA) of multiple targets. A new analytic multiple-sources AOA estimation algorithm that outperforms many well-known AOA estimation algorithms is developed and verified by experiments. Moreover, the statistical parameters of RCS from targets and radar images are used in target classification approaches based on machine learning methods. In realistic road traffic environment, foliage is commonly encountered that can potentially block the line-of-sight link. In the second part of the thesis, a non-line-of-sight (NLoS) vehicular propagation channel model for tree trunks at two vehicular communication bands (5.9 GHz and 60 GHz) is proposed. Both near-field and far-field scattering models from tree trunk are developed based on modal expansion and surface current integral method. To make the results fast accessible and retractable, a macro model based on artificial neural network (ANN) is proposed to fit the path loss calculated from the complex electromagnetic (EM) based methods. In the third part of the thesis, two broadband (bandwidth > 50%) omnidirectional antenna designs are discussed to enable polarization diversity for next-generation communication systems. The first design is a compact horizontally polarized (HP) antenna, which contains four folded dipole radiators and utilizing their mutual coupling to enhance the bandwidth. The second one is a circularly polarized (CP) antenna. It is composed of one ultra-wide-band (UWB) monopole, the compact HP antenna, and a dedicatedly designed asymmetric power divider based feeding network. It has about 53% overlapping bandwidth for both impedance and axial ratio with peak RHCP gain of 0.9 dBi.PHDElectrical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/163001/1/caixz_1.pd

Localization in GPS denied environment

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A novel wideband dynamic directional indoor channel model based on a Markov process

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Localization and Tracking in Wireless MIMO Systems

Ph.DDOCTOR OF PHILOSOPH