Orientation and localization system

摘要

An orientation and localization system is provided with spatial filtering capabilities that combines time polarization and space diversity to detect the direct lines of sight (LOS) and to deliver location and orientation estimates of mobile nodes.

主权项

1. A system for determining spatial location and orientation of one or more mobile nodes, comprising:
at least one radio station configured to determine an estimated orientation and an estimated location of each node of the one or more mobile nodes having a direct line of sight (LOS) to the at least one radio station, wherein each radio wave propagation path therebetween is characterized by a direction of departure (DOD), a transmit polarization, a direction of arrival (DOA), and a receive polarization; at least one of the at least one radio station and the one or more mobile nodes including:
a multiple antenna system including a polarization selection-switching unit;a radio transceiver configured with spatial filtering;a time filtering module configured to perform a first filtering process on received signal vectors, the first filtering process allowing for a classification of transmitting nodes of the one or more mobile nodes onto at least one vector set, wherein each vector set of the at least one vector set is a collection of vectors having substantially the same strengths and substantially the same time of arrival properties;a multiple input multiple output (MIMO) channel matrices module configured to operate on each vector set of the at least one vector set to provide an estimated quadruple MIMO channel matrix, the estimated quadruple MIMO channel matrix composed of a plurality of co-polarized MIMO matrices and a plurality of cross-polarized MIMO channel matrices, wherein the MIMO channel matrices module is further configured to determine at least one of a plurality of estimated receive correlation matrices and a plurality of estimated transmit correlation matrices;a multipath DOA and DOD estimation module configured to operate on one of at least one estimated correlation matrix corresponding to unpaired transmitter and receiver polarizations and at least one estimated correlation matrix determined using the plurality of cross-polarized MIMO channel matrices;a control module configured to operate on the plurality of cross-polarized MIMO channel matrices to control the multipath DOA and DOD estimation module in order to operate a detection method;wherein the plurality of receive correlation matrices corresponding to a plurality of unpaired polarization mode is used to determine a plurality of multipath azimuth-elevation of angle of arrival (AOA) estimates;wherein the plurality of transmit correlation matrices corresponding to a plurality of unpaired polarization mode is used to determine a plurality of multipath azimuth-elevation of angle of departure (AOD) estimates;wherein a signal power on the plurality of AOA estimates obtained on the plurality of unpaired polarization modes forms a receive polarization-space spectrum, andwherein a signal power on the plurality of AOD estimates forms a transmit polarization-space spectrum;wherein the control module is configured to utilize one of a MUSIC algorithm and a MVR algorithm providing each two polarization-space spectra of the multipath received signals;wherein a combination of two receive polarization-space spectra provides a common receive spectrum, and wherein the combination of two transmit polarization-space spectra provides a common transmit spectrum;a multipath tilt angles and channel gains estimation module configured to use the multipath DOA and DOD estimation module and the MIMO channel matrices module to estimate at least one of:
a signal strength and a tilt angle of outgoing wave (TAOUT) for each estimated DOD parameter; anda signal strength and a tilt angle of oncoming wave (TAON) for each estimated DOA parameter;a co-polarized channel filtering module configured to remove multipath channel components from the co-polarized channel matrices; the co-polarized channel filtering module further configured to output a multipath originated reconstituted co-polarized MIMO matrix by using as inputs:
a plurality of DOA estimates and a plurality of DOD estimates provided by the multipath DOA and DOD estimation module, andthe co-polarized MIMO matrices provided by the MIMO channel matrices module;wherein the MIMO channel matrices module re-estimates the channel gain and tilt angles for each pair of DOA/DOD angles using the reconstituted co-polarized MIMO matrix outputted by the co-polarized channel filtering module;a LOS DOA and DOD estimation module configured to operate on the filtered co-polarized channel matrices provided by the co-polarized channel filtering module and configured to utilize one of the MUSIC algorithm and the MVR algorithm selected by the control module in order to output a first data including at least one set of DOA and DOD couples of azimuth and elevation angles corresponding to LOS paths;a LOS multipath tilt angles and channel estimation module configured to use the first data outputted by the LOS DOA and DOD estimation module and the reconstituted co-polarized MIMO matrix outputted by the co-polarized channel filtering module to output a second data including estimates on each LOS of the TAON and the TAOUT;a position and orientation finder module configured to use the second data outputted by the LOS multipath tilt angles and channel estimation module for determining the estimated location and the estimated orientation of each transmitting node of the one or more mobile nodes with identified LOS.