A novel unitary estimation of signal parameters via rotational invariance techniques (ESPRIT) algorithm, for the joint direction of arrival (DOA) and range estimation in a monostatic multiple-input multiple-output (MIMO) radar with a frequency diverse array (FDA), is proposed. Firstly, by utilizing the property of Centro-Hermitian of the received data, the extended real-valued data is constructed to improve estimation accuracy and reduce computational complexity via unitary transformation. Then, to avoid the coupling between the angle and range in the transmitting array steering vector, the DOA is estimated by using the rotation invariance of the receiving subarrays. Thereafter, an automatic pairing method is applied to estimate the range of the target. Since phase ambiguity is caused by the phase periodicity of the transmitting array steering vector, a removal method of phase ambiguity is proposed. Finally, the expression of Cramér–Rao Bound (CRB) is derived and the computational complexity of the proposed algorithm is compared with the ESPRIT algorithm. The effectiveness of the proposed algorithm is verified by simulation results.
With the rapid development of communication and information technology, it is difficult for traditional signal detection and recognition methods to accurately acquire and identify the intelligence under complex environments. In order to solve this problem, this paper proposes a subtle feature extraction and recognition algorithm for radiation source individual signals based on multidimensional hybrid features. Firstly, Hilbert transform was performed on the radiation source signals from 10 identical radio devices, and the subtle features of different radiation sources’ signals were extracted. Then, traditional principal component analysis (PCA) algorithm was used to extract and reduce the principal components of the extracted feature data sets. Aiming at the insufficiency of traditional PCA algorithm, an improved principal component analysis algorithm was proposed. At last, a gray relation algorithm was used to classify and identify the radiation source individual signals, and the recognition rate was calculated. Experimental results show that Hilbert transform combined with the improved PCA algorithm can achieve a recognition rate of 99.67% for the "fingerprint" features of radiation source individual signals under the signal-to-noise ratio (SNR) of 20dB. Compared with the traditional algorithms, the recognition rate increased by 5.67%. Therefore, it provides a powerful theoretical basis for extracting subtle features of radiation source devices under complex electromagnetic environments.
In order to move around automatically, mobile robots usually need to recognize their working environment first. Simultaneous localization and mapping (SLAM) has become an important research field recently, by which the robot can generate a map while moving around. Both two-dimensional (2D) mapping and three-dimensional (3D) mapping methods have been developed greatly with high accuracy. However, 2D maps cannot reflect the space information of the environment and 3D mapping needs long processing time. Moreover, conventional SLAM methods based on grid maps take a long time to delete the moving objects from the map and are hard to delete the potential moving objects. In this paper, a 2D mapping method integrating with 3D information based on immobile area occupied grid maps is proposed. Objects in 3D space are recognized and their space information (e.g., shapes) and properties (moving objects or potential moving objects like people standing still) are projected to the 2D plane for updating the 2D map. By using the immobile area occupied grid map method, recognized still objects are reflected to the map quickly by updating the immobile area occupancy probability with a high coefficient. Meanwhile, recognized moving objects and potential moving objects are not used for updating the map. The unknown objects are reflected to the 2D map with a lower immobile area occupancy probability so that they can be deleted quickly once they are recognized as moving objects or start to move. The effectiveness of our method is proven by experiments of mapping under dynamic indoor environment using a mobile robot.
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