ECE 194C Acoustic Target Tracking in Sensor Networks Methods for acoustic target tracking.

Transcription

1 ECE 94C Aout Target Trag Seor etwor Method for aout target trag. ear Feld Sgal-tregth rato. Cro-orrelato wth broadat aout gal Sum ro-orrelato o ror gal owledge Far-feld Mamum-lelhood gle oure MUSIC multle oure Alteratg mamzato multle oure.

2 Cell-Baed Loalzato Ref: D. L, K. Wog, Y. Hu ad A. Saeed Deteto, lafato IEEE Sg. Pro. Mag.

3 Loalzato of Aout Target Tme-of-arrval le-of-bearg obtaed va beamformg dreto of troget aout gature. Fgure, Ref: Wag ad Chadraaa, IEEE Sg. Pro. Mag. Jul. 3

4 Woodeer Loalzato Ref: H. Wag et. al. Aout Seor etwor for Woodeer Loalzato, SPIE Coferee Pro. 5, alo Platform for ollaboratve Aout Sgal Proeg. 4

5 ear-feld v. Far Feld Wavefrot urvature Plae-wave Aromato. 5

6 ear-feld Proagato Model, Soure, r T α, r T α + 6

7 Aout Trag ug Eerg Rato Problem: Soure ower S T uow Soluto: Ue reeved eerg rato at dfferet eor Ref: L, Wog, Hu Saeed IEEE Sg. Pro. Magaze ρ, r r α α T α / T α α ρ, α ρ α, 7

8 8 Eerg Rato Target Loalzato For eah ar of eor, addate target oto le o a rle [ ] ρ ρ ρ ρ ρ ρ ρ ρ ρ ρ ρ α α α α,,,, r r

9 Eamle 3 Seor Form rle,,3,3 9 - ρ, o meter o meter 9

10 Leat-Suare Soluto Model for meaured rato wth addtve oe α ρ, +, olear leat-uare oluto ehautve earh. arg m + ρ,

11 Eamle 4 Seor/Leat-Suare Soluto o meter o meter

12 Coheret Correlato Eamle aout gature tru

13 Autoorrelato ρ 3

14 Seor etwor Coheret Correlato Ref: Q. Wag, W. Che, R. Zheg, K. Lee ad L. Sha Aout target trag ug t wrele eor deve, ISP 3 Ue Referee Beao Shrozato RBS to ma eor lo to global tme. Cluterhead tramt beao to eor, eor rel wth ther dvdual lo readg. Cluterhead omute orreto fator. Clo Beao Cluterhead Clo Beao Clo 3 Beao 4

15 Coheret Correlato All eor reord rular buffer of oud. Cluterhead determe whe a gal-of-teret reet. Cluterhead tramt t reeved waveform to eor. Seor ro-orrelate ther reorded oud wth broadat aet. 5

16 6 Coheret Correlato [ ] v d d r + + ρ v d r + ρ d d f d / Dela etmate e.

17 Cro-Correlato Tme-of-Arrval Etmate ˆ ma arg r 7

18 8 Tragulato Seor tramt arrval tme etmate to luterhead. Cluterhead ue rage euato to olve for target oto ad tart tme. Rage euato eed of oud aro. 33 m/ / / / t t t Tme t of oure tramo uow, but we have three euato, three uow,,t.

19 9 Leat-Suare Tragulato t t t v t / ˆ,, m arg ˆ, ˆ, ˆ ˆ / Aume tme-of-arrval meauremet error are..d. Gaua. Otmal oluto for oto/tramo tme olear leat-uare Soluto va modfed grd earh

20 Coheret Trag Searo

21 Trag a Movg Aout Soure

22 ooheret Aout Loalzato Correlato-baed method reure owledge of aout waveform. Alteratve aroah baed o ro-orrelato betwee eor deedet of waveform truture. Ref. Che, Hudo ad Yao Mamum-lelhood oure loalzato ad uow eor loato etmato IEEE Tra. Sg. Pro.. Coder ro-orrelato betwee two eor: arg ma

23 Sum Cro-Correlato Coder dela-dfferee tramo tme t ael. arg ma / + t / / + t / Loalze b mamzg um ro-orrelato Do ot eed to ow or tart tme t! J 3

24 4 FFT Imlemetato of Sum Cro- Correlato e X e X J / / π π Reall tme-hft orreod to lear hae hft FFT

25 5 FFT Imlemetato Cot d., * /, / / /, B B B X e X e e e X J π π π π

26 6 Beamformer Iterretato, S S J S e S e X e B e S X π π π π e S X / π

27 Eamle of FFT-Baed ooheret Loalzato 7

28 Beamformer Magtude ,396 J o meter o meter 7 J e π X + / f amle 8

29 Far-Feld Dreto-of-Arrval I the Wag ad Chadraaa earo IEEE Sg. Pro. Mag. olated luter of eor oerate the far feld. Ue le-of-bearg dreto-of-arrval to tragulate Smlfe ommuato ut tramt LOB to a etral roeor for tragulato. 9

30 3 Far-Feld Uform Lear Arra Model d / d / / / / d d d M / d d d

31 ULA Sgal LOB 3

32 ULA Sgal LOB 45 deg d π / 4 / 3d π / 4 / 3

33 33 Cro-Correlato for LOB Etmato ma arg ˆ / ma arg / / J J d d d

34 34 FFT-Baed Beamformg Ue aal for ooheret ear-feld ae, / e X e B J d S e S X π π π Cluterhead omute le-of-bearg ad FFT Ref. Wag ad Chadraaa

35 ULA Seor Searo 35

36 36 Beamformer Outut /,,,, amle f d X e B J π

37 Far-Feld Multle Soure Loalzato RF Reoe of a atea arra to gle RF oure, fre. f. Ae πf t Ae f t d / z t π + v t Ae πf t M d / d / d / 37

38 Mamum-Lelhood Soluto for RF Loalzato Drete-tme model after dowovero A Ae z π + v a + v M Ae π M Gaua oe ML oluto ehautve earh. ˆ ML m arg z a 38

39 39 Multle Soure Loalzato + + M A A A e e v a v z π π M Arra reoe to oure,..., m arg ˆ ML a z Cure of dmeoalt Comlet order Q for Q uatzato of agle.

40 ML Soluto Soure 4 log z π / 4, 3π /

41 Soluto for Multle Soure Loalzato Mamum-lelhood Eoetal omlet umber of oure Q Alteratg Mamzato Reure evaluato of roeto matre, multle terato. MUSIC Multle Soure Idetfato ad Clafato Poor erformae at low SR. Reure ree arra albrato. 4

42 4 MUSIC Algorthm I a a z z R ˆ v H l H z P l l σ + ] [ ] [..... H H z v M U U U U R Λ > > > + σ λ λ λ λ λ a U U a H H J J,...,, ma arg Comute amle orrelato matr Perform the SVD to obta Comute the MUSIC etrum MUSIC dreto-of-arrval etmate are

43 MUSIC Algorthm Soluto 6 Agle σ. 5 σ σ. Mu Setrum 4 3 π/4, 3π/8 σ

44