面向移动嵌入式系统中曲线轨迹的轻量型单天线到达角估计
Lightweight Single-Antenna Direction-of-Arrival Estimation for Curvilinear Trajectories in Mobile Embedded Systems
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中文总结 AI 辅助
本研究提出一种轻量型单天线DOA估计框架，利用接收机运动形成虚拟孔径，通过TWR与IMU实现方位估计，实验验证其可行性且计算开销低，为相关研究提供支撑。
中文摘要 AI 辅助
在嘈杂的工业环境中，精确的到达角（DOA）估计对空间选择性通信具有重要价值。本研究探讨了一种轻量型单天线框架，其中接收机的运动可形成虚拟孔径。该接收机利用机载惯性测量单元（IMU）的航向，以及与已知固定信标的双向测距（TWR）测量值，避免了对GPS、光学跟踪以及移动接收机的高精度外部跟踪的依赖。通过任意轨迹上的相位相干窄带快照，对曲线虚拟阵列MUSIC算法的公式进行了数值评估。硬件实验验证了一种基于测距域的TWR-IMU方位估计器，该估计器采用校正和平均后的测距观测值。在连续100次四旋转扫描的试验中，所有试验均有效。相位对齐累加恢复出123毫米的调幅振幅，与实测的120毫米天线力臂高度吻合。单次扫描的方位精度为8.2°，绝对世界坐标系精度受电动装置中BNO055磁力计的系统漂移限制。嵌入式方位估计计算每次估计消耗144.9毫焦能量，约为测试配置中实测周期能量的3%。这些结果确立了机载测距域方位估计的可行性，并为自由形式移动轨迹下相位相干MUSIC的未来实验验证提供了依据。
英文摘要
Accurate direction-of-arrival (DOA) estimation is valuable for spatially selective communication in noisy industrial environments. This work investigates a lightweight single-antenna framework in which receiver motion forms a virtual aperture. The receiver uses onboard inertial measurement unit (IMU) headings and two-way-ranging (TWR) measurements to a known fixed beacon, avoiding GPS, optical tracking, and high-precision external tracking of the mobile receiver. The curvilinear virtual-array MUSIC formulation is evaluated numerically using phase-coherent narrowband snapshots over arbitrary trajectories. Hardware experiments validate a range- domain TWR-IMU bearing estimator using corrected and averaged ranging observations. In a campaign of 100 consecutive four-revolution sweeps, all trials are retained. Phase-aligned accumulation recovers a 123 mm range-modulation amplitude, in close agreement with the measured 120 mm antenna lever arm. The single-sweep bearing precision is 8.2° absolute world-frame accuracy is limited by systematic BNO055 magnetometer drift in the motorized setup. The embedded bearing-estimation computation consumes 144.9 mJ per estimate, approximately 3 % of the measured cycle energy in the tested configuration. These results establish the feasibility of onboard range-domain bearing estimation and motivate future experimental validation of phase-coherent MUSIC during free-form mobile trajectories.
