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DIRECTION OF ARRIVAL
ESTIMATION
1.1 Back Ground Information:
The direction of arrival determines the direction in which signals arrives on array of sensors and
has a large number of applications. It determines the direction in which user is located based upon
the data received from the sensors.
There are a number of algorithms designed for the estimation of direction of arrival ,some of
them are MUSIC (multiple user signal classification),ESPRIT(estimation of signal parameters via
rotational invariance techniques), Spectral MUSIC, Root-MUSIC, Constrained MUSIC, Beam
Space MUSIC,ESPRIT Algorithm, Minimum Norm Method, CLOSEST Method, Weighted
Subspace Fitting Method and others. Comparison of MUSIC with ESPRIT
We have designed an application by using four mics to determine the direction of arrival of the
user speaking in any one of the mics. First of all analogue signal is passed on to the DSP kit. It
determines the direction of the user using MUSIC algorithm . All the calculations are performed
on the DSP kit while the graphs are displayed on Matlab.
1.2 Problem:
The direction of arrival estimation for multiple signals impinging on array of sensors has
attracted a lot of attention in literature, due to its numerous application in radar ,sonar,
communication and so on[1].Direction of arrival estimation is an important and basic technique
not only for wireless communication system but also for the audio/speech processing
systems[2,3].
It has been observed that there is a one-on-one relationship between the direction of a signal
arriving onto a sensor and the associated received steering vector . There should be a method to
invert the relationship and find the direction of the signal form the signal that it is receiving. An
antenna array therefore should be able to provide direction of arrival estimation.
Figure 1.1[6]
Fig. 1.1 shows the problem setup. A number of (M) signals arrive on a linear, equispaced, array
with N number of elements, each with direction i. The goal of DOA estimation is to utilize the
data received at the array to estimate i, i = 1, . . .M. It is generally assumed that number of
signals is less than the number of elements (M < N).
The objective is to estimate from the measurements a set of constant parameters upon which the
received signals depend. Data from the array of sensor is calculated and to locate point sources
assumed to be radiating energy that is detectable by the sensors. All the transmitted signals
contribute to the maximization of its performance with respect to recovering the signal of interest
and suppressing any present interfering signals. The same problem of determining direction of
arrival [DOA] of impinging wavefronts , given the set of signals received at an antenna array
from multiple emitters, arises also in a number of radar, sonar and mobile communication
systems[4].
The estimation is difficult because there are unknown number of signals, with un known
amplitudes and arriving from unknown directions .And the signals received by the array always
has noise (additive white gaussian noise).
A steering vector represents the set of phase delays a plane wave experiences, evaluated at a set
of array elements (antennas). The phases are specified with respect to an arbitrary origin.
Figure 1.2[6]
A number of methods exist for DOA estimation, some of them are shown in the figure 1.2.
Figure 1.3
assumption, we can approximate the spherical wavefront 2 that emanates from the source as a
plane wavefront2. Thus the signal reaching each of the elements can be assumed to be parallel to
each other. The direction perpendicular to the array is called the broadside direction or simply the
broadside of the array. All DOA's will be measured with respect to this direction. Where the
signals from each element are multiplied by a complex weight and summed to form the array
output[6].
xM 1 (t ) m(t )e j 2f o t
Figure 1.4
Signals from each element is multiplied by a complex weight and added to form array out put. It
follows from the figure that an expression from the array output is given by[5]:
Y(t)=wH x(t)
(1.1)
in physics, a wavefront is the locus (a line, or, in a wave propagating in 3 dimensions, a surface)
of points having the same phase.
Where W denotes the weights of the array system using vector notation as
W=[w1,w2,w3,,wN]
(1.2)
(1.3)
To start, we have considered M1 as the reference microphone(figure:1.4). Let the signal incident
on M1 be s(t). Then the signal incident on the second microphone (M2) travels an additional
distance of dsin as compared to the signal incident on the first microphone M1. The signal
incident on M2 is a time-delayed version of s(t) and this delay is equal to =d sin / v , where v
is the velocity of sound (340 m/s)[5].
To summarize, the signals picked up by the array at each of the microphones are given below:
xM1 = s (t )
(1.4)
xM2 = s (t 21)
xM3 = s (t 31)
.
.
.
.
xMn = s (t n1)
s (t ) mk (t ) e
j 2f ot
With mk (t) denoting the complex modulating function and f o denoting the carrier frequency.
Modulation function used reflects the modulation being used in the system. [5].
These expressions are based upon assumption of narrow band array signal processing, which
takes the assumption that the bandwidth of the signal and the array dimensions are narrow enough
so that the modulating function stays constant during seconds, that is the approximation
m(t)=m(t- ) holds[5].
xM 2 (t ) x1 (t ) e
j 2 d sin
o
xM 1 (t ) m(t ) e j 2fot
.
.
xMn (t ) x1 (t ) e
j 2 ( n 1) d sin
o
x(t)= A()s(t)+n(t)
(1.6)
e j 2 o sin
A( )
j 2 2
sin
j 2 ( n 1)
sin
(1.7)
where A() Steering vector1 is n-dimensional Complex vector containing responses of all n
elements of the array to a narrowband source. It is also considered as the array response vector, it
measures the response of the array due to the source under consideration. [5].
Spatial aliasing occurs when the phase delay between two signals increases beyond , at the
frequency of interest. Due to which time delays are interpreted wrongly, which results in wrong
DOA estimation. Thus we have the condition d /2 , which means that the distance between two
adjacent elements should not accede half of the smallest wavelength. When this condition is
satisfied, spatial aliasing can be avoided and correct DOA estimates can be achieved [5].
(1.8)
NOTE: First element of the array is at the origin (point of reference),so 1 (k,k)=0,hence first
element of the steering vector is equal to unity. As the response of the array vary according to the
8
direction, a steering vector is associated with each directional source, uniqueness of this
association depends upon array geometry. For a linear array of equally spaced elements with
element spacing greater then half wavelength, the steering vector for every direction is unique[5].
The signal vector can be compactly represented as:
M
X(t)=
mk ( t ) s k + n(t)
(1.9)
K =1
(1.10)
01k
2n 1=k
(1.11)
y(t)=
mk ( t ) w H sk + n ( t ) w H
(1.12)
K =1
substituting the array correlation matrix definition leads to the following expression for the array
correlation matrix(a matrix giving correlation between all pairs of data sets) .
M
R=E[( m k ( t ) s k + n(t )
K =1
)(
mk ( t ) s k + n(t )
K =1
)H ]
(1.13)
mk ( t ) sk
mk ( t ) sk
M
=E[(
]+E[n(t)nH (t) ]+
K =1
(1.14)
[(
K =1
mk ( t ) sk
mk ( t ) sk
M
n(t)
K =1
n H (t )+ E [ H ]
K =1
mk ( t ) sk
mk ( t ) sk
M
E[(
K =1
M
]=
H
E[ k ( t ) m ( t ) ]S K S1
(1.15)
K=1
K =1
{P0 11=kk
k
(1.16)
Where pk denotes the power of the kth source measured at one end of the element of the array.
Where pk is the variance of the complex modulating function m k(t) when modulated as a zero
mean low pas random process. Hence for the uncorrelated sources it becomes [5]:
10
mk ( t ) sk
mk ( t ) sk
M
E[(
K =1
M
]=
P k S k SkH
(1.17)
K =1
K =1
The fact that the directional sources and the white noise are uncorrelated results in the third and
fourth terms on the R.H.S of the equation (1.14) to be identical to zero. From equation (1.11), the
second term simplifies to
2n
(1.17)gives the following relationship, when the directional sources are uncorrelated[5]:
M
R=
Pk S k S Hk
k=1
+ n
(1.18)
Where in equation I is the identity matrix and
2n I
Rn = 2n I
(1.19)
Let
RI =PI S I S HI
(1.21)
11
SI
Where
Using matrix notation, the correlation matrix R may be expressed in the following compact form:
R=AS A
+ n I
(1.22)
Where the columns of the matrix NXM matrix A are made up of steering vectors, that is
A=[
S 1 , S2, , S M ]
(1.23)
And MXM matrix S denotes the source correlation, for uncorrelated sources, it is a diagonal
matrix with[5]
S ij = P i i= j
0 i j
(1.24)
12
R=Q QH
(1.28)
With a diagonal matrix
0
= 0 0
0 0
0
0
(1.29)
Q=[U1,,UL]
(1.30)
Which is also referred as the spectral decomposition of the array correlation matrix. Since
eigenvectors form an orthonormal set,
QQH =I
And
QHQ=I
Thus,
QH=Q-1
(1.31)
The orthonormal property o the eigenvectors leads to the following expression for the array
correlation matrix[5]:
M
R=
U U
l=1
+n2
(1.32)
13
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