阅读说明：本技术 用于联合雷达通信的方法 (Method for joint radar communication ) 是由 S·H·多坎奇 B·奥特斯滕 B·S·米索尔拉玛拉奥 T·施蒂夫特 于 2019-02-26 设计创作，主要内容包括：本发明涉及一种用于针对车用应用的联合雷达通信的方法,包括：发射机(11)发射雷达信号(S),其中,信号(S)具有相位调制的连续波形,并且包括通过相位调制编码的信息；与发射机(11)间隔开的接收机(14)接收信号(S)；并且接收机(14)检测来自所接收的信号(S)的信息。为了提供用于针对车用应用的联合雷达通信的有效概念,本发明提供了信号(S)是具有多个载波频率的多载波相位调制的连续波形,并且信息被编码到每个载波频率上。(The invention relates to a method for joint radar communication for automotive applications, comprising: a transmitter (11) transmits a radar signal (S), wherein the signal (S) has a continuous waveform with phase modulation and comprises information encoded by the phase modulation; receiving a signal (S) by a receiver (14) spaced apart from the transmitter (11); and the receiver (14) detects information from the received signal (S). In order to provide an efficient concept for joint radar communication for automotive applications, the invention provides that the signal (S) is a multi-carrier phase modulated continuous waveform with multiple carrier frequencies, and information is encoded onto each carrier frequency.)

1. A method for joint radar communication for vehicular applications, comprising:

-the transmitter (11) transmits a radar signal (S), wherein the signal (S) has a continuous waveform with phase modulation and comprises information encoded by the phase modulation,

-a receiver (14) spaced apart from the transmitter (11) receives the signal (S) and

-the receiver (14) detecting the information from the received signal (S),

wherein the signal (S) is a multi-carrier phase modulated continuous waveform having a plurality of carrier frequencies and the information is encoded onto each carrier frequency.

2. The method of claim 1, wherein the information is encoded by differential phase shift keying.

3. The method according to any of the preceding claims, characterized in that the signal (S) is transmitted by a plurality of transmitter antennas (13) of the transmitter (11).

4. A method according to claim 3, characterized in that each carrier frequency is transmitted by each transmitter antenna (13).

5. The method according to any of the preceding claims, characterized in that the signal (S) is received by a plurality of receiver antennas (15) of the receiver (14).

6. The method according to any of the preceding claims, characterized in that the signal (S) is reflected by at least one target (4, 5) and at least one target-related parameter is estimated based on the received signal (S).

7. Method according to any of the preceding claims, characterized in that for each target (4, 5) at least one bistatic range is estimated.

8. The method of claim 7, wherein the information is detected based on the at least one bistatic range.

9. Method according to claim 8, characterized in that for each target (4, 5) the at least one bistatic range is re-estimated based on the detected information.

10. Method according to claim 8 or 9, characterized in that for each target (4, 5) at least one bistatic doppler shift is estimated based on the detected information.

11. The method according to any of the preceding claims, characterized in that for each target (4, 5) at least one angle of arrival is estimated

12. The method according to any of the preceding claims, characterized in that at least one quantity is estimated by averaging over all receiver antennas (15).

13. A method according to any one of the preceding claims, characterized in that the information comprises a plurality of symbols and that at least one quantity is estimated by averaging all detected symbols.

14. A method according to any one of the preceding claims, characterized in that at least one quantity is estimated by averaging all carrier frequencies.

15. A system (10) for joint radar communication for vehicular applications, comprising:

-a transmitter (11) adapted to transmit a radar signal (S), wherein the signal (S) has a continuous waveform with a phase modulation and comprises information encoded by the phase modulation,

-a receiver (14) adapted to receive the signal (S) when spaced apart from the transmitter (11) and to detect the information from the received signal (S),

wherein the signal (S) is a multi-carrier phase modulated continuous waveform having a plurality of carrier frequencies and the information is encoded onto each carrier frequency.

Technical Field

The present invention relates to a method for joint radar communication and a system for joint radar communication.

Background

One aspect that has become increasingly important in modern automotive systems is the so-called vehicle-to-all (V2X) communication, which refers to the exchange of information between a vehicle and any entity that may affect the vehicle. In general, V2X communications may include more specific types of communications, such as V2I (vehicle-to-infrastructure), V2V (vehicle-to-vehicle), V2P (vehicle-to-pedestrian), V2D (vehicle-to-device), and V2G (vehicle-to-grid). The V2X system relies on cooperative communication to enable real-time high data rate communication to share data in vehicular applications (e.g., blind spot detection, lane change, emergency and warning signals, traffic light alerts, parking assist, cruise control) to access the vehicle wireless network.

Traffic safety may be further enhanced by combining both radar and V2X communication technologies to provide hybrid processing in the sense that the reliability of the communication is enhanced and the communication is utilized for sensing. However, this aspect becomes important because the spectrally inefficient excitation systems coexist. For the high bandwidth offered, automotive radar implementations in the millimeter wave band (79GHz) are increasingly being considered. Although radar systems and techniques are becoming mature in the millimeter-wave band, the reuse of the radar spectrum in low-latency, limited throughput, and security critical communications has begun to be of concern. In this context, a Joint Radar Communication (JRC) system has been proposed in which the platform performs sensing and communication operations. The main challenge in JRC waveform design is the lack of freedom (DoF) due to the need to estimate the communication symbols in addition to the radar parameters.

"Joint Transmission Designs for Cooperation of Communications and Sparse Sensing Radars in routers" (IEEETransmission on Aerospace and Electronic Systems, vol.53, No.6, pages 2846 and 2864, 12 months 2017) of Li and A.P.Petropulu discloses a collaborative scheme for Coexistence of Communications and collocated MIMO radar Systems. The communication rate, power limit and radar estimation error are considered performance metrics. To maximize radar SINR, radar precoders, sub-sampling schemes, and communication covariance matrices have been jointly designed to meet these particular performance metrics. However, this concept requires a solution to the optimization problem at the symbol level or at least in each Coherent Processing Interval (CPI), which results in a highly complex transmit process.

Zhang, q.li, l.huang and j.song, "wave form design for joint radar-communication system with multi-user based on MIMO radar" (IEEE RadarConference (radarcon f), seattle, washington, 2017) discusses multi-carrier quasi-orthogonal (linear frequency modulation-continuous phase modulation) LFM-CPM waveforms where each subcarrier is transmitted by one antenna of the MIMO radar. The results show that the spectral efficiency of the waveform is higher than that in the LFM waveform due to the use of CPM, and Bit Error Rate (BER) performance is guaranteed.

"Joint automatic radio-Communications Waveform Design" by s.h. dokhachi, m.r.bhavani Shankar, y.a.nijsure, t.stifer, s.segrighi, and b.ottsten (published in ieee international Symposium on Personal, inotor and Mobile radio Communications (PIMRC), montreal, quebec, canada) discloses a JRC Waveform that allows the use of the existing structure of a Phase Modulated Continuous Waveform (PMCW) to support additional functions of data transmission. Each symbol is modulated by a PMCW code sequence.

Another vehicle JRC waveform is disclosed in "OFDM-based automatic Joint Radar-Communication System" by s.h. dokhanchi, m.r. bhavani Shankar, t.stifter and b.ottersten, which is accepted and published in IEEE Radar Conference (radarcconf), oklahoma, 2018, wherein the System associates a portion of Orthogonal Frequency Division Multiple Access (OFDMA) subcarriers with Radar processing, and then associates other subcarriers with Radar processing, thereby implementing Radar and Communication functions.

An Adaptive OFDM-JRC Waveform Design method is provided in "Adaptive OFDM Integrated radaraand Communications Waveform Design on Information Theory" (IEEEcommunications Letters, vol.21, No.10, page 2174 and 2177, 10 months 2017) of Y.Liu, G.Liao, J.Xu, Z.Yang and Y.Zhang. The concept is based on the solution of an optimization problem that takes into account the condition MI of the radar and the data rate used for communication with a limited total power. In case of low transmit power, this approach is better than equal power allocation. However, a priori knowledge about the sensing region is necessary.

In "a novel approach for embedding communication systems in physical Radar waves" of c.sahin, j.jakob, p.m.mccormick, j.g.metcalf, and s.d.blunt (IEEE Radar Conference (radarcconf), seattle, washington, 2017), a robust method of embedding information into Radar transmissions has been proposed while preserving a constant envelope waveform with good spectral suppression. Wherein the information sequence is implemented using Continuous Phase Modulation (CPM) and the information sequence is phase attached to a polyphase encoded frequency modulated (PCFM) radar waveform.

"Radar-Communications conversion" of A.R. Chiriyath, B.Paul and D.W.Bliss, Cooperation, and Co-Design "(IEEE trans. on Cognitive Commun. and computing, vol.3, No.1, 3 months 2017), discusses JRC information boundaries and their accompanying weighted spectral efficiency measurements. A new concept is introduced according to which the communication rate bits and the estimated rate bits do not have equal values.

Disclosure of Invention

It is therefore an object of the present invention to provide an efficient concept for joint radar communication for automotive applications.

This problem is solved by a method according to claim 1 and a system according to claim 15.

General description of the invention

The present invention provides a method for joint radar communication for automotive applications. In this context, "joint radar communication" or "joint radar and communication" should be understood as a concept in which: wherein radar transmissions are used not only for detection and ranging but also for communication, i.e. for transmitting information. The method of the invention is suitable for automotive applications, wherein corresponding information is transmitted and/or received by the automobile.

In a first step of the method of the invention, the transmitter transmits a radar signal, wherein the signal is a phase modulated continuous waveform and comprises information encoded by the phase modulation. The radar signal is of course an electromagnetic signal, the wavelength of which is not limiting to the scope of the invention. However, for automotive applications, the wavelength may be between 1mm and 10 mm. The transmitter may be particularly installed in a car. Of course, the signal is transmitted by at least one transmitter antenna of the transmitter. It should be understood that the transmitter may also encode corresponding information prior to transmitting the radar signal. Of course the radar signal that can be used for detection and ranging also comprises information encoded by phase modulation. This information is typically encoded as a sequence of symbols that are binary encoded by different phase angles. Since the information is typically digital information, phase modulation may also be referred to as Phase Shift Keying (PSK). It should also be noted that signals may be transmitted by a single antenna, but transmitting signals by using multiple antennas has some advantages, e.g., angle of arrival estimation becomes easier, higher gain is obtained, etc.

In a second step, a receiver, spaced apart from the transmitter, receives the signal. In automotive applications, the receiver may also be installed in a different car than the car with the transmitter. The signal is received by at least one antenna of the receiver. In this context, receiving a "signal" should not be interpreted as a signal that does not change between the transmitter and the receiver. Rather, the signal typically undergoes changes due to absorption, reflection, dispersion, or other effects. After receiving the signal, the receiver detects information from the received signal. Detecting information may also be referred to as decoding or retrieving information.

According to the invention, the signal is a multi-carrier phase modulated continuous waveform having a plurality of carrier frequencies, and information is encoded onto each carrier frequency. In other words, the radar signal employs a particular bandwidth having a plurality of carrier frequencies corresponding to the subcarriers, each of which is used to encode information. In other words, each of the carrier frequencies is phase modulated to encode information. The number of carrier frequencies is typically 2 or more, but may in particular be between 3 and 20 or between 5 and 10. Typically, the carrier frequencies are equally spaced, but this is not necessary to practice the invention. The signal used in the method of the invention is a multi-carrier phase modulated continuous waveform (MC-PMCW). MC-PMCW typically involves the transmission of PMCW codes modulated by communication symbols on different subcarriers (i.e., carrier frequencies that extend around the bandwidth). For many applications (e.g. for automotive radar and communications) only a certain bandwidth is available. By employing multiple carrier frequencies, the available bandwidth can be utilized to a greater extent. In other words, more information may be transmitted within a particular time interval. Also, as will be discussed further below, the use of multiple carriers does not negatively impact the radar signal detection and ranging functions. Thus, detection and communication can be performed simultaneously with a single waveform, so that multiplexing is not required. Also, a signal having a PMCW code modulated by a communication symbol is robust to multi-user interference. The codes enable, for example, the differentiation of different users.

In general, encoding of information by phase modulation may be performed in different ways. For example, the phase itself may be used to encode information. However, it is preferred to encode the information by Differential Phase Shift Keying (DPSK), since by using DPSK the method becomes more robust to any fixed phase changes that may occur to the communication symbols. In other words, the change in phase is used to encode information rather than the phase itself. Encoding schemes such as Differential Binary Phase Shift Keying (DBPSK) or Differential Quadrature Phase Shift Keying (DQPSK) may be used. Differential encoding is preferred because even if the entire signal is phase shifted in an unknown manner between the transmitter and receiver, no reference phase is required and the phase difference is maintained.

Although a single antenna may be used to transmit signals, it is preferred that the signals be transmitted by multiple transmitter antennas of the transmitter. The transmitter antennas may be arranged in a uniform linear array comprising, for example, 2 to 20 or 5 to 10 transmitter antennas. Multiple antennas may be used, for example, for beamforming of radar signals.

Preferably, each carrier frequency is transmitted by each transmitter antenna. This means that each transmitter antenna is used to transmit the same information. The radar signals transmitted by each transmitter antenna may be substantially identical, although a particular phase shift may be introduced between the antennas in order to direct the signals in a particular direction.

A single antenna may be used to receive the signal, but preferably the signal is received by multiple receiver antennas of the receiver. As with the transmitter antennas, the receiver antennas may be arranged in a uniform linear array comprising, for example, 2 to 20 or 5 to 10 transmitter antennas. It should be appreciated that if multiple transmitter antennas are employed, each receiver antenna typically receives signals from each transmitter antenna.

An important function of radar signals is of course detection and ranging. Thus, the signal is preferably reflected by at least one target and at least one target-related parameter is estimated based on the received signal. Here and hereinafter, "estimated" means "determined" or "calculated", while it should be understood that several factors may affect the accuracy of the calculation. Such factors may be approximations in the mathematical model used, numerical errors, noise, etc. The target may be any object that may reflect a radar signal, i.e., another vehicle, a pedestrian, a stationary object, etc. The at least one object-related parameter may be related to a position of the object and/or a velocity of the object. It should be understood that position and velocity may generally only be detected relative to the transmitter or receiver, respectively.

Preferably, at least one bistatic range is estimated for each target. Bistatic range is the sum of the distance (or range) from the transmitter to the target and the distance from the target to the receiver. More specifically, the bistatic range may be the sum of the distance from the transmitter (or transmitter antenna of the transmitter, respectively) to the target and the distance from the target to the receiver antenna of the receiver. If there are multiple receiver antennas, bistatic ranges can be estimated for each receiver antenna.

According to one embodiment (which will be explained further below by way of example), the information is detected based on at least one bistatic range. In other words, the estimated value of at least one bistatic range is used for the detection information. It may also be said that information detection depends on the estimated bistatic range.

For each target, at least one bistatic range may be re-estimated based on the detected information. In other words, the initial estimate of the at least one bistatic range is considered to be the first estimate with unknown accuracy. Once the information is detected, the result may be used to re-estimate at least one bistatic range, thereby obtaining a second, possibly more accurate, estimate. The second estimate may be used as the final result or may be combined with the first estimate by some sort of averaging (possibly a weighted average).

Further, for each target, at least one bistatic doppler shift may be estimated based on the detected information. Bistatic doppler shift is the sum of the doppler shift from the transmitter to the target and the doppler shift from the target to the receiver. Since the two separate doppler shifts may have opposite signs, the absolute value of the bistatic doppler shift may be less than each of the separate absolute values. It will be appreciated that each individual doppler shift is directly related to the radial velocity of the target relative to the transmitter or receiver, respectively. More specifically, the bistatic doppler shift may be the sum of the doppler shift from the transmitter (or transmitter antenna of the transmitter, respectively) to the target and the doppler shift from the target to the receiver antenna of the receiver. If there are multiple receiver antennas, then bistatic Doppler shift can be estimated for each receiver antenna.

Preferably, for each target, at least one angle of arrival is estimated. The angle of arrival of course refers to the direction of the object relative to the receiver, or more specifically, the direction of the object relative to the receiver antenna of the receiver. If multiple receiver antennas are present, an angle of arrival may be estimated for each receiver antenna.

If the receiver includes multiple receiver antennas, it is often not necessary to know a certain amount (bistatic range, bistatic doppler shift, or angle of arrival) with respect to a particular receiver antenna. This is mainly because the receiver antennas are relatively close together compared to the typical distance between the transmitter and the receiver or object, respectively. For automotive applications, the receiver antennas are usually placed within less than 1m of each other, while the distance to the target (another vehicle, a pedestrian, etc.) or transmitter (e.g. in another vehicle) is typically a few meters or tens of meters. If different values of a certain quantity are estimated for each individual receiver antenna, these quantities can theoretically be combined using triangulation methods. However, in general this is not necessary or efficient to improve the accuracy of any estimate. Instead, the at least one quantity is preferably estimated by averaging over all receiver antennas. This means that a value (or estimate) of the respective quantity is obtained for each receiver antenna and the average of these values is used as an estimate of the quantity. Here and in the following, average generally refers to an arithmetic average.

In some cases (e.g., when estimating bistatic doppler shift), the quantity may also be estimated by averaging the transmitter antennas.

As mentioned above, the information may comprise a plurality of symbols. In this case, the at least one quantity may be estimated by averaging all detected symbols. In other words, a quantity is determined for each detected symbol, and then averaged over all symbols. The respective quantities may be, in particular, bistatic range and/or angle of arrival. This averaging may be combined with the above-mentioned averaging over all receiver antennas.

The above-mentioned quantities may be determined individually for each carrier frequency (i.e., each subcarrier). At least one quantity is estimated by averaging over all carrier frequencies (or subcarriers). This is based on the assumption that: quantities such as bistatic range, angle of arrival or bistatic doppler shift should be independent of the carrier frequency.

The invention also provides a system for joint radar communication, comprising: a transmitter adapted to transmit a radar signal, wherein the signal has a continuous waveform that is phase modulated and comprises information encoded by the phase modulation; and a receiver adapted to receive a signal when spaced apart from the transmitter, wherein the signal is a multi-carrier phase modulated continuous waveform having a plurality of carrier frequencies and the information is encoded onto each carrier frequency, and to detect information from the received signal.

These terms have been explained above in relation to the method of the invention and will therefore not be explained again. The transmitter may comprise a signal generation unit adapted to encode information and to control the transmission of signals. The transceiver may comprise a signal evaluation unit adapted to detect the information and optionally to estimate the at least one target-related quantity.

The preferred embodiment of the system of the invention corresponds to the preferred embodiment of the method of the invention.

Drawings

Further details and advantages of the invention will become apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings, in which:

FIG. 1 is a schematic view of a roadway having a plurality of cars illustrating an application of the method of the present invention; and

fig. 2 is a schematic view of the system of the present invention.

Detailed Description

The method of the invention and the system of the invention will now be described with reference to fig. 1 and 2, where fig. 1 shows a road 1 with a number of cars 2-7. First of allThe cars 2 and 3 are moving in the same lane with a third car 4 between the first car 2 and the second car 3, thereby blocking the line of sight between the first car 2 and the second car 3. The fourth car 5 and the fifth car 6 are moving in adjacent lanes. The first car 2 and the second car 3 comprise a transmitter 11 and a receiver 14, respectively, the transmitter 11 and the receiver 14 being part of the inventive system 10 for joint radar communication, which is shown in fig. 2. The illustration in fig. 2 is greatly simplified. The transmitter 11 comprises a coupling to N_tA signal generating unit 12 of a transmitter antenna 13, N_tThe transmitter antennas 13 are arranged in a Uniform Linear Array (ULA). Number N_tMay be variably selected, for example, 2 to 10. The signal generation unit 12 is configured to generate a radar signal S, which is transmitted by a transmitter antenna 13. As will be discussed below, information is encoded onto the signal S by means of phase modulation. Receiver 14 includes N coupled to signal evaluation unit 16_rA receiving antenna 15. When the signal S from the transmitter 11 is received by the receiver antenna 15, the signal evaluation unit 16 is adapted to detect the information encoded therein and to estimate (or determine) a number of quantities to be discussed below.

In the scenario shown in fig. 1, a first car 2 attempts to communicate with a second car 3. In addition to the communication, the second car 3 should also be able to utilize the reflection of the radar signal S by the third car 4 and the fourth car 5, which may be referred to as targets, to estimate the quantity related to the target.

And

the transmit-target range and target-receiver range of target q, respectively. Theta^(t)Is the angle of departure of the sheet material,

andis angle of arrival(AoA). By means of the information encoded in the radar signal S, the first car 2 can communicate its position and speed information as well as its own sensing data so that the second car 3 can estimate the range and speed of the target. As an approximation, the third 4 and fourth 5 cars may be considered point targets, and thus consist of a non-fluctuating Radar Cross Section (RCS), bistatic range (i.e., the distance from the transmitter 11 to the targets 4, 5)Plus the distance from the targets 4, 5 to the receiver 14

) Bistatic doppler shift (i.e., doppler shift from the transmitter 11 to the targets 4, 5 plus doppler shift from the targets 4, 5 to the receiver 14) and angle of arrival of signals reflected by the respective targets 4, 5To define the range and speed of the target. The receiver 14 or the signal evaluation unit 16 is adapted to recover the bistatic range, AoA, bistatic doppler shift and encoded information together. In the context of this example, the doppler shift and the time of flight of the path are assumed to be fixed over the Coherent Processing Interval (CPI).

Hereinafter, lower case letters and upper case letters denote vectors and matrices, respectively. (.)^T、(.)^*And (.)^HTranspose, conjugate, and Hermitian (conjugate transpose) are indicated, respectively. I is_nDenotes an identity matrix of size n, 0_n×mIs n × m all-zero matrix s (t) u (t-t)_c) Where u (t) is a step function, symbols ⊙ andrespectively representing element-by-element Hadamard and Kronecker products.

Representing an N × M matrix, | | v | | | represents a Frobenius norm, i.e.,[c]_mis the m-th element of the vector C, and [ C]_mIs the mth column of matrix C.

The radar signal S transmitted by the transmitter 11 is a multi-carrier phase modulated continuous waveform (MC-PMCW). MC-PMCW for CPI involves the transmission of PMCW codes, i.e., by communication symbols at N_cModulated on a number of different sub-carriers, i.e. carrier frequencies extending around the bandwidth B

More specifically, each symbol is modulated onto a different subcarrier by Differential Phase Shift Keying (DPSK). t is t_bIs the transmission time of one symbol (also called slow time), and t_cIs the chip time (also known as the fast time). a is_n,mIs the communication DPSK symbol on the nth subcarrier of the mth MC-PMCW symbol because DPSK is robust to constant phase terms. The waveform transmitted by the ith transmitter antenna 13 on the nth subcarrier can be written as

Wherein, a_n,mThe information in (1) is phase modulation, i.e. a_n,m＝exp(jθ_n,m)，N_cIs the number of sub-carriers that are,representing a uniform spacing for frequency division, B is the total bandwidth,is the wave number, λ is the wavelength, f_cIs the carrier frequency. L is the length of the code sequence, and θ^(t)Is the exit angle.

The transmit waveform of equation (1) may be represented in matrix form as

Wherein the content of the first and second substances,including the communication symbols, the communication symbols are,

is a code sequence and

after superimposing the reflected signals from the Q targets (e.g. the third car 4 and the fourth car 5), the received signal at the receiver antenna p takes the form:

wherein, d'_qModeling both the effect of propagation loss and the cross section of the qth object, and

wherein the content of the first and second substances, andthe relative radial velocity components of the transmitter-target and target-receiver of the qth target, respectively.

Andsignal flight times for the transmit-target and target-receiver paths of the qth target, respectively η_p(t) is the round complex Gaussian noise.

Due to the fact that

Thus can be approximatedAnd is

Wherein the content of the first and second substances,

representing the bistatic doppler shift due to the presence of the target q. Down-converting equation (3) to baseband, for each antenna p and subcarrier n, will result in

Wherein the content of the first and second substances,and is

To be provided withIs paired with_p,n(t) sampling, equation (5) can be rewritten as

Suppose thatAndis a bistatic range. For practical values for automotive applications, one can approximate all l

This results in h_p,n,m,lSimplified to

All samples in space (spatial samples collected by the antenna), frequency (frequency samples in different carriers) and slow time (slow time means in code period t)_bSampling) are collected into vectors c respectively_q、b_qAnd e_qWherein the vectors are angularOf focus range induced phase

And collecting Doppler shifts

So that h is_p,n,m＝[c_q]_p[b_q]_n[e_q]_m. Equation (4) can be written in matrix form as

Wherein, P_kIs a cyclic permutation matrix whose integer shift for k is defined as

Where k ∈ {0, …, L-1} is determined by the range of the target q.

The signal evaluation unit 16 of the receiver 14 processes the received signal according to several steps described in detail below. First, the bistatic range is estimated, and then the estimation of the bistatic range is used to detect information, i.e., data symbols. Bistatic range can then be re-estimated based on the detected information. Also, a bistatic doppler shift is estimated based on the detected information. Finally, the angle of arrival is estimated. It should be understood that the signal evaluation unit 16 may be at least partially software implemented in order to perform the estimation and detection processes described below.

For convenience of representation, noise will be omitted below. From matrix Y_pSelect a block of L elements in the mth symbol time as

Wherein M is 0, …, M-1. Now, for the range estimation, the received signal is correlated with a previously known code sequence, and for each value of m, an estimated range value is obtained.

The bistatic range of the qth target of the mth symbol at the pth receive antenna is denoted asIs given as ct_c× k, wherein k ∈ [0, L-1 ]]Is the kth maximum of

||T_p,mΛ_k′Equation | (8)

Wherein the content of the first and second substances,

the index "1" in (1) indicates that this is the first estimate of bistatic range. Considering the fact that the code sequences are orthogonal, the following properties hold:

in this context, it should be noted that there are "m" symbols corresponding to "m" pulses, such that these symbols may be used interchangeably with pulses.

Q bistatic ranges are obtained by averaging all the receiver antennas 15 and all the range estimates obtained from equation (8), with the result that

To detect the traffic symbols, the estimated value Λ from (8) may be used_kTo calculate T_p,mΛ_k. Moreover, the range estimate of equation (10) may be used for reconstructionThe communication symbols may thereafter be detected according to

Thus, the DPSK symbol [ A ] can be demodulated according to equation (11)]_m. In this context, demodulation of a DPSK symbol means that the corresponding complex waveform is mapped to its appropriate binary bits. Improving the range estimation to

The range of the qth target of the mth symbol at the pth receive antenna is denoted as

Is calculated asWherein, k ∈ [0, N_c-1]Is the kth maximum of

Wherein the content of the first and second substances,then, similar to equation (10), take the average of all receiver antennas 15 and all symbols from equation (12) to get

Where the index "2" indicates that this is the second estimate. Finally, can get pairsAndto improve the estimation.

The 4D tensor of equation (6) can be represented as slices in different domains, each slice being in the form of a matrix. To retrieve the bistatic doppler shift in slow time, the data tensors can be reordered by fixing the other dimensions (i.e., subcarrier, antenna, and fast time sampling). The hypercube slices of data for fixed subcarrier n and antenna p may be represented as

And can defineWherein

Is estimated from (11). The bistatic Doppler shift of the qth target of the nth subcarrier at the pth receive antenna is denoted asIs obtained as

Wherein, k ∈ [0, M-1]Is the kth maximum of

Wherein the content of the first and second substances,finally, the signal evaluation unit 16 may calculate the bistatic doppler shift as

By modifying equation (6), defineAnd looking at the nth subcarrier at the mth symbol, the following equation is obtained

The matrix W can be selected_n,mColumn (l) is U_n,m,l＝[W_n,m]_l，l∈[1,L]. AoA of the qth target of the l sample of the m symbol at the nth subcarrier is represented as

Is obtained asWherein, k ∈ [0, N_r-1]Is the kth maximum of

Wherein the content of the first and second substances,in order to improve the estimation it is proposed that,the average over all samples, symbols and subcarriers, i.e.,

as shown above, with the method and system of the present invention, which uses multiple subcarriers in a phase modulated continuous waveform, target detection and communication can be efficiently combined.

List of reference numerals

1 road

2-7 automobile

10 system

11 transmitter

12 Signal generating unit

13 transmitter antenna

14 receiver

15 receiver antenna

16 signal evaluation unit

Range of

θ^(t)Angle of departure

Angle of arrival