clear variables; close all; clc addpath(genpath(fullfile(pwd, 'Functions'))); addpath(genpath(fullfile(pwd, 'Antenna_Pattern'))); %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % % 좌표계 : % 1) 중심(0,0,0) : 레이더의 중심 % 2) 레이더 boresight(레이더 안테나면의 수직방향) : +x axis % 3) 레이더 boresight 기준 왼쪽 : +y axis, 오른쪽 : -y axis % 4) X-Y 평면에서 위로 수직 : +z axis, 아래로 수직 : -z axis % 5) Elevation : x-y 평면 0 deg 기준. +z 방향으로 (+), -z 방향으로 (-) % 6) Azimuth : +x axis 를 0 deg 기준. x-y 평면상에서 반시계 : (+), 시계 : (-) % % % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Control Panel opt_waveform = 1; % 0 : cos waveform, 1 : exp waveform opt_interference = 0; opt_clutter = 0; opt_tgt = 0; % 0 : Point targets, 1 : Realistic targerts opt_noise = 1; opt_filter = 1; opt_window = 1; flag_plot_physical_array = 0; flag_plot_virtual_array = 0; flag_plot_RVM = 0; flag_plot_noise_esti = 0; flag_plot_birdview = 1; %% Basic Parameters c0 = physconst('Lightspeed'); % Light speed [m/s] kb = physconst('Boltzmann'); % Boltzmann Constant T0 = 290; % Room Temperature [K] %% System Parameters fc = 76.75e9; % Center frequency [Hz] lambda_c = c0 / fc; % wavelength for center frequency [m] fs = 20e6; % ADC sampling rate [Hz] NumChirps = 256; % Number of Chirps (= # of samples in slow-time) NumSamples = 1024; % Number of samples in fast-time rngFFTlen = 2^(nextpow2(NumSamples)); % FFT length in fast-time velFFTlen = 2^(nextpow2(NumChirps)); % FFT length in slow-time maxrngFFTidx = 13/16 * rngFFTlen / 2; % Max Range index in FFT %% Array Design Nt = 3; % Number of Tx Nr = 4; % Number of Rx u_azi = 1.96e-3; % [m] u_elv = 5.488e-3; % [m] txarray_loc = [ 0 0 0 ; 0 -8*u_azi 0 ; 0 -15*u_azi u_elv;]'; rxarray_loc = [ 0 0 10*u_azi; 0 -5*u_azi 10*u_azi; 0 -9*u_azi 10*u_azi; 0 -15*u_azi 10*u_azi;]'; [mimoarray] = gen_virarray(txarray_loc, rxarray_loc); if flag_plot_physical_array == 1 ant_width = 2.55e-3; ant_height = 10.77e-3; figure for eidx = 1 : Nt scatter((txarray_loc(2, eidx)+ant_width/2)*1e3, (txarray_loc(3, eidx)+ant_height/2)*1e3, 'ro'); hold on rectangle('Position', 1e3*[(txarray_loc(2, eidx)), (txarray_loc(3, eidx)), ant_width, ant_height]); hold on text(txarray_loc(2,eidx)*1e3, txarray_loc(3,eidx)*1e3, ['#', num2str(eidx)], 'Color', 'red', 'HorizontalAlignment', 'center'); end grid on for eidx = 1 : Nr scatter((rxarray_loc(2, eidx)+ant_width/2)*1e3, (rxarray_loc(3, eidx)+ant_height/2)*1e3, 'bo'); hold on rectangle('Position', 1e3*[(rxarray_loc(2, eidx)), (rxarray_loc(3, eidx)), ant_width, ant_height]); hold on text(rxarray_loc(2,eidx)*1e3, rxarray_loc(3, eidx)*1e3, ['#', num2str(eidx)], 'Color', 'blue', 'HorizontalAlignment', 'center'); end xlabel('y-axis [mm]'); ylabel('y-axis [mm]'); title('Physical array locations'); end if flag_plot_virtual_array == 1 figure scatter(mimoarray(2,1:Nr) / lambda_c, mimoarray(3,1:Nr) / lambda_c, 'bo') hold on scatter(mimoarray(2,Nr+1:2*Nr) / lambda_c, mimoarray(3,Nr+1:2*Nr) / lambda_c, 'ro') scatter(mimoarray(2,2*Nr+1:3*Nr) / lambda_c, mimoarray(3,2*Nr+1:3*Nr) / lambda_c, 'go') grid on xlabel('y-axis [\lambda]'); ylabel('z-axis [\lambda]'); title('Virtual Array Positions'); legend('Tx1','Tx2','Tx3'); end %% Environments % 00. Radar platform posR = [0 0 0].'; % radar position velR = [0 0 0].'; % radar velocity accR = [0 0 0].'; % radar acceleration % 01. Target tgt_rng = [100]; tgt_azi = [10]; tgt_elv = [0]; tgt_pos = [tgt_rng.*cosd(tgt_azi).*cosd(tgt_elv) tgt_rng.*sind(tgt_azi).*cosd(tgt_elv) tgt_rng.*sind(tgt_elv)].'; %tgt_pos = [150 0 0].'; tgt_vel = [0 0 0].'; tgt_acc = [0 0 0].'; tgt_rcs = [10]; tgt_class = 'TCR'; tgt = gen_tgt(tgt_pos, tgt_vel, tgt_acc, tgt_rcs, 'TCR'); tgt.num = size(tgt.rcs, 1); for tgt_idx = 1 : tgt.num [tgt_azi_rad(tgt_idx), tgt_elv_rad(tgt_idx), ~] = cart2sph(tgt_pos(1, tgt_idx), tgt_pos(2, tgt_idx), tgt_pos(3, tgt_idx)); tgt_azi_deg(tgt_idx, 1) = rad2deg(tgt_azi_rad(tgt_idx)); tgt_elv_deg(tgt_idx, 1) = rad2deg(tgt_elv_rad(tgt_idx)); tgt_radi_vel(tgt_idx, 1) = sum((tgt_vel(:, tgt_idx) - velR) .* (tgt_pos(:, tgt_idx) - posR)/norm((tgt_pos(:, tgt_idx) - posR))); end tgt_table_truth = table([tgt_rng tgt_radi_vel tgt_azi_deg tgt_elv_deg]', 'VariableNames', {'Tgt.'}, 'RowNames', {'Rng[m]', 'radi Vel.[m/s]', 'Azi.[deg]','Elv.[deg]'}); disp(tgt_table_truth); % 02. Clutter % 03. Interference %% Transmitter % 00. Sampling interval ts = 1/fs; % 00. Transmitter Parameters Ptx_dBm = 11; % 01. Waveform generation TxBw = 344e6; timing_struct.T_dwell = 0e-6; timing_struct.T_settle = 3e-6; timing_struct.T_jumpback = 0.5e-6; timing_struct.T_reset = 1e-6; timing_struct.T_acq = 51.2e-6; tx_phase_initial = 0; timing_struct.T_idle = 1e-6; %[1e-6 9.5e-6 18e-6]; timing_struct.PRI = timing_struct.T_dwell + timing_struct.T_settle + timing_struct.T_jumpback + timing_struct.T_reset + timing_struct.T_acq + timing_struct.T_idle; %[56.7e-6 65.2e-6 73.7e-6]; % [24.08.22] Lowpass filter 구현 때문에 2배 oversampling 함. temp_Ref_wave = zeros(2*NumSamples, NumChirps); for m = 1 : NumChirps Tx_wave = gen_fastramp_fmcw(timing_struct, 2*fs, fc-TxBw/2, TxBw, NumChirps, 0, tx_phase_initial, opt_waveform); temp_Ref_wave(:,m) = Tx_wave.waveform; end Ref_wave = repmat(temp_Ref_wave, 1, 1, Nr); % 02. DDMA DDMA_freq = [0 1/4 2/4] * 1/Tx_wave.T_chirp; DDMA_idx = DDMA_freq * Tx_wave.T_chirp * velFFTlen; %% System Parameters (Analysis) rng_max = beat2rng(fs/2*13/16, Tx_wave.f_slope, c0); rng_res = beat2rng(fs/rngFFTlen, Tx_wave.f_slope, c0); rng_sep = bw2rngsep(TxBw, 1, c0); vel_max = 0.5*dop2spd(1/(Tx_wave.T_chirp)/2, lambda_c); vel_res = dop2spd(1/Tx_wave.T_frame/velFFTlen, lambda_c); vel_sep = dop2spd(1/Tx_wave.T_frame/velFFTlen, lambda_c); % figure(1) % subplot(211); plot(Tx_wave.timeline,real(Tx_wave.waveform)); % xlabel('Time (s)'); ylabel('Amplitude (v)'); % title('FMCW signal'); axis tight; % subplot(212); spectrogram(Tx_wave.waveform,32,16,32,fs,'yaxis'); % title('FMCW signal spectrogram'); %% Antenna (Tx) load('azi_ant_pat.mat'); load('elev_ant_pat.mat'); azi_ant_pat(:,2) = azi_ant_pat(:,2) - 4; elev_ant_pat(:,2) = elev_ant_pat(:,2) - 4; %% Propagation (From Tx ant to Rx ant) delayed_Tx_sig = zeros(length(Tx_wave.waveform), NumChirps, Nr); for tgtidx = 1 : tgt.num for m = 1 : NumChirps if m > 1 velR = velR + accR * timing_struct.PRI; posR = posR + velR * timing_struct.PRI; tgt.pos(:,tgtidx) = tgt.pos(:,tgtidx) + tgt.vel(:,tgtidx) * timing_struct.PRI; tgt.vel(:,tgtidx) = tgt.vel(:,tgtidx) + tgt.acc(:,tgtidx) * timing_struct.PRI; end % RF out powVar_dB = (Ptx_dBm - 30) * ones(Nt, Nr); % -30 : dBm -> dBW for txidx = 1 : Nt tgt_loc_vec = tgt.pos(:, tgtidx) - (posR + txarray_loc(:, txidx)); [tgt_azi_dod, tgt_elev_dod, tgt_rng_dod] = cart2sph(tgt_loc_vec(1),tgt_loc_vec(2),tgt_loc_vec(3)); target_prop_time_dod = rng2time(tgt_rng_dod, c0); tx_ant_gain_azi = interp1(azi_ant_pat(:,1), azi_ant_pat(:,2), rad2deg(tgt_azi_dod)); tx_ant_gain_elev_reduction = max(elev_ant_pat(:,2)) - interp1(elev_ant_pat(:,1), elev_ant_pat(:,2), rad2deg(tgt_elev_dod)); tx_ant_gain_db = tx_ant_gain_azi - tx_ant_gain_elev_reduction; % Tx ant gain powVar_dB(txidx,:) = powVar_dB(txidx,:) + tx_ant_gain_db; % Freespace loss (Radar to Target) powVar_dB(txidx,:) = powVar_dB(txidx,:) + pow2db(1/(4*pi*tgt_rng_dod^2)); % RCS powVar_dB(txidx,:) = powVar_dB(txidx,:) + tgt.rcs(tgtidx); for rxidx = 1 : Nr tgt_loc_vec = tgt.pos(:, tgtidx) - (posR + rxarray_loc(:, rxidx)); [tgt_azi_doa, tgt_elev_doa, tgt_rng_doa] = cart2sph(tgt_loc_vec(1),tgt_loc_vec(2),tgt_loc_vec(3)); target_prop_time_doa = rng2time(tgt_rng_doa, c0); rx_ant_gain_azi = interp1(azi_ant_pat(:,1), azi_ant_pat(:,2), rad2deg(tgt_azi_doa)); rx_ant_gain_elev_reduction = max(elev_ant_pat(:,2)) - interp1(elev_ant_pat(:,1), elev_ant_pat(:,2), rad2deg(tgt_elev_doa)); rx_ant_gain_db = rx_ant_gain_azi - rx_ant_gain_elev_reduction; % Freespace loss (Target to Radar) powVar_dB(txidx, rxidx) = powVar_dB(txidx, rxidx) + pow2db(1/(4*pi*tgt_rng_doa^2)); % Rx ant gain powVar_dB(txidx, rxidx) = powVar_dB(txidx, rxidx) + rx_ant_gain_db + pow2db(lambda_c^2/(4*pi)); target_prop_time = target_prop_time_dod + target_prop_time_doa; % [24.08.22] Lowpass filter 구현 때문에 2배 oversampling 함. delayed_wave = gen_fastramp_fmcw(timing_struct, 2*fs, fc-TxBw/2, TxBw, NumChirps, target_prop_time, tx_phase_initial, opt_waveform); delayed_Tx_sig(:,m,rxidx) = txidx * delayed_Tx_sig(:,m,rxidx) + sqrt(db2pow(powVar_dB(txidx, rxidx))) * (delayed_wave.waveform).' .* exp(-1i * 2 * pi * DDMA_freq(txidx) * ((m-1) * delayed_wave.T_chirp)); end end end end %% Antenna (Rx) rxsig_wo_n = delayed_Tx_sig; %% Receiver % Compute the cascaded noise figure and total gain of a receiver system. The system has seven stages, with these values: % 01. LNA with a noise figure of 1.0 dB and a gain of 15.0 dB % 02. Mixer with a noise figure of 5.0 dB and a gain of –7.0 dB % 03. HPF1 with a noise figure of 0.5 dB and a gain of –0.5 dB % 04. IF VGA1 with a noise figure of 0.6 dB and a gain of –15.0 dB % 05. HPF2 with a noise figure of 0.5 dB and a gain of –0.5 dB % 06. IF VGA2 with a noise figure of 0.6 dB and a gain of –15.0 dB % 07. LPF1 with a noise figure of 0.6 dB and a gain of –15.0 dB % 08. Buffer with a noise figure of 1.0 dB and a gain of –1.0 dB % 09. LPF2 with a noise figure of 0.6 dB and a gain of –15.0 dB % 10. ADC with Vpp : 1.2 [V], Bit : 12 [bit] % 00. Receiver Parameters NF_dB_LNA = 11.5; NF_dB_Mixer = 12; NF_dB_HPF1 = 0.5; NF_dB_VGA1 = 20; NF_dB_HPF2 = 0.5; NF_dB_VGA2 = 20; NF_dB_LPF1 = 0.5; NF_dB_Buffer = 30; NF_dB_LPF2 = 0.5; G_dB_LNA = 20; G_dB_Mixer = 0; G_dB_HPF1 = -0.5; G_dB_VGA1 = 13.5; G_dB_HPF2 = -0.5; G_dB_VGA2 = 13.5; G_dB_LPF1 = -0.5; G_dB_Buffer = 0; G_dB_LPF2 = -0.5; nf = [NF_dB_LNA NF_dB_Mixer NF_dB_HPF1 NF_dB_VGA1 NF_dB_HPF2, NF_dB_VGA2 NF_dB_LPF1 NF_dB_Buffer NF_dB_LPF2]; g = [G_dB_LNA G_dB_Mixer G_dB_HPF1 G_dB_VGA1 G_dB_HPF2, G_dB_VGA2 G_dB_LPF1 G_dB_Buffer G_dB_LPF2]; % nf = [4.0 0.5 5.0 1.0 0.6 1.0 6.0]; % g = [20.0 -0.5 -7.0 -1.0 21.75 21.75 -5.0]; [cnf,ng] = noisefigure(nf,g); % NF_dB2 = cal_nf(nf, g, T0); NF_dB = 12; % 01. LNA NF_dB_LNA = 12; if opt_noise == 0 Pn = 0; elseif opt_noise == 1 Pn = kb * T0 * fs * db2pow(NF_dB_LNA); end thermal_noise_LNA = sqrt(Pn) * randn([size(rxsig_wo_n)]); % 02. Mixing % 2-1. Product mixed_sig = zeros(size(rxsig_wo_n)); mixed_noise = zeros(size(thermal_noise_LNA)); for rxidx = 1 : Nr mixed_sig(:,:,rxidx) = dechirping(rxsig_wo_n(:,:,rxidx), Ref_wave(:,:,rxidx)); mixed_noise(:,:,rxidx) = dechirping(thermal_noise_LNA(:,:,rxidx), Ref_wave(:,:,rxidx)); end % 2-2. High Pass Filter % Second-order, -6 dB, (100 kHz ~ 3.2 MHz) : NXP (tef82xx) f_cut_hpf = 1.6e6; [zb1, pb1, kb1] = butter(1, 2*pi*f_cut_hpf, 'high', 's'); [zd1, pd1, kd1] = bilinear(zb1, pb1, kb1, 2*fs); [hpf1_d_num, hpf1_d_den] = zp2tf(zd1, pd1, kd1); temp_mixed_sig_hpf = zeros(size(mixed_sig)); mixed_sig_hpf = zeros(size(mixed_sig)); temp_mixed_noise_hpf = zeros(size(mixed_sig)); mixed_noise_hpf = zeros(size(mixed_sig)); for rxidx = 1 : Nr if opt_filter == 1 temp_mixed_sig_hpf(:,:,rxidx) = filter(hpf1_d_num, hpf1_d_den, mixed_sig(:,:,rxidx)); mixed_sig_hpf(:,:,rxidx) = filter(hpf1_d_num, hpf1_d_den, temp_mixed_sig_hpf(:,:,rxidx)); temp_mixed_noise_hpf(:,:,rxidx) = filter(hpf1_d_num, hpf1_d_den, mixed_noise(:,:,rxidx)); mixed_noise_hpf(:,:,rxidx) = filter(hpf1_d_num, hpf1_d_den, temp_mixed_noise_hpf(:,:,rxidx)); else mixed_sig_hpf(:,:,rxidx) = mixed_sig(:,:,rxidx); mixed_noise_hpf(:,:,rxidx) = mixed_noise(:,:,rxidx); end end [h_hpf1, ~] = freqz(hpf1_d_num,hpf1_d_den, rngFFTlen); Loss_hpf1_dB = pow2db(sum(abs(h_hpf1).^2)/rngFFTlen); Loss_hpf2_dB = pow2db(sum(abs(h_hpf1).^2)/rngFFTlen); % 2-3. Low Pass Filter % 1) Third-order, -6 dB, (12.5 MHz ~ 25 MHz) : NXP (tef82xx) % 2) Third-order, -6 dB, > 40 MHz(Wide-bandwidth mode) : NXP (tef82xx) f_cut_lpf = 12.5e6; % (20e6 * 416/512) [zl1, pl1, kl1] = butter(1, 2*pi*f_cut_lpf, 'low', 's'); [zdl1, pdl1, kdl1] = bilinear(zl1, pl1, kl1, 2*fs); [lpf1_d_num, lpf1_d_den] = zp2tf(zdl1, pdl1, kdl1); [zl2, pl2, kl2] = butter(2, 2*pi*f_cut_lpf, 'low', 's'); [zdl2, pdl2, kdl2] = bilinear(zl2, pl2, kl2, 2*fs); [lpf2_d_num, lpf2_d_den] = zp2tf(zdl2, pdl2, kdl2); temp_mixed_sig_lpf = zeros(size(mixed_sig)); mixed_sig_lpf = zeros(size(mixed_sig)); temp_mixed_noise_lpf = zeros(size(mixed_sig)); mixed_noise_lpf = zeros(size(mixed_sig)); for rxidx = 1 : Nr if opt_filter == 1 temp_mixed_sig_lpf(:,:,rxidx) = filter(lpf1_d_num, lpf1_d_den, mixed_sig_hpf(:,:,rxidx)); mixed_sig_lpf(:,:,rxidx) = filter(lpf2_d_num, lpf2_d_den, temp_mixed_sig_lpf(:,:,rxidx)); temp_mixed_noise_lpf(:,:,rxidx) = filter(lpf1_d_num, lpf1_d_den, mixed_noise_hpf(:,:,rxidx)); mixed_noise_lpf(:,:,rxidx) = filter(lpf2_d_num, lpf2_d_den, temp_mixed_noise_lpf(:,:,rxidx)); else mixed_sig_lpf(:,:,rxidx) = mixed_sig_hpf(:,:,rxidx); mixed_noise_lpf(:,:,rxidx) = mixed_noise_hpf(:,:,rxidx); end end [h_lpf1, ~] = freqz(lpf1_d_num, lpf1_d_den, rngFFTlen); Loss_lpf1_dB = pow2db(sum(abs(h_lpf1).^2)/rngFFTlen); [h_lpf2, ~] = freqz(lpf2_d_num, lpf2_d_den, rngFFTlen); Loss_lpf2_dB = pow2db(sum(abs(h_hpf1).^2)/rngFFTlen); % figure() % subplot(211); plot(Tx_wave.timeline, real(mixed_sig_lpf(:,10))); % xlabel('Time (s)'); ylabel('Amplitude (v)'); % title('dechirped FMCW signal'); axis tight; % subplot(212); spectrogram(mixed_sig_lpf(:,10), 320, 160, 320, fs,'yaxis'); % title('dechirped FMCW signal spectrogram'); % 2-4. Receiver gain Rxgain_dB = 45; mixed_sig_lpf_rxgain = mixed_sig_lpf(1:2:end,:,:) * db2pow((Rxgain_dB - (Loss_hpf1_dB + Loss_hpf1_dB + Loss_lpf1_dB + Loss_lpf2_dB))/2); mixed_noise_lpf_rxgain = mixed_noise_lpf(1:2:end,:,:) * db2pow((Rxgain_dB - (Loss_hpf1_dB + Loss_hpf1_dB + Loss_lpf1_dB + Loss_lpf2_dB))/2); % 2-5 Quantization Noise Vpp_ADC = 1.2; ADC_bit = 12; ADC_impd = 50; Vq_rms = Vpp_ADC/2^ADC_bit / sqrt(12); qt_pow = Vq_rms^2 / ADC_impd; qt_noise = sqrt(qt_pow) * randn(size(mixed_sig_lpf_rxgain)); sig_adc_out = mixed_sig_lpf_rxgain; noise_adc_out = mixed_noise_lpf_rxgain; %% 03. FFT % 3-1 Range Windowing if opt_window == 1 winRng = repmat(hann(rngFFTlen), [1,NumChirps, Nr]); else winRng = repmat(ones(NumSamples, 1), [1,NumChirps, Nr]); end scalwinRng = sum(winRng(:,1,1)) / length(winRng(:,1,1)); winR_mixed_sig_lpf = sig_adc_out .* winRng; winR_mixed_noise_lpf = noise_adc_out .* winRng; % 3-2. Range FFT sig_rng_fft = fft(winR_mixed_sig_lpf, rngFFTlen, 1); noise_rng_fft = fft(winR_mixed_noise_lpf, rngFFTlen, 1); % 3-3 Doppler Windowing if opt_window == 1 winDop = repmat(hann(velFFTlen).', [rngFFTlen, 1, Nr]); else winDop = repmat(ones(1, NumChirps), [rngFFTlen, 1, Nr]); end scalwinDop = sum(winDop(1,:,1)) / length(winDop(1,:,1)); winD_sig_rng_fft = sig_rng_fft .* winDop; winD_noise_rng_fft = noise_rng_fft .* winDop; % 3-4. Doppler FFT sig_rng_dop_fft2_wo_n = fft(winD_sig_rng_fft, velFFTlen, 2); noise_rng_dop_fft2 = fft(winD_noise_rng_fft, velFFTlen, 2); %noise_att =[0.2120 0.2143 0.2206 0.2276 0.2342 0.2424 0.2468 ]; noise_att = ones(1, maxrngFFTidx); noise_rng_dop_fft2(1:maxrngFFTidx, :, :) = noise_rng_dop_fft2(1:maxrngFFTidx, : ,:) .* repmat(noise_att', 1, 256, 4); sig_rng_dop_fft2 = sig_rng_dop_fft2_wo_n + noise_rng_dop_fft2; %% Signal Processing rng_grid = beat2rng(gen_freqgrid(rngFFTlen, fs, 0), Tx_wave.f_slope, c0); spd_grid_fftshift = 0.5*dop2spd(gen_freqgrid(velFFTlen, 1/(Tx_wave.T_chirp), 1), lambda_c); spd_grid_no_fftshift = fftshift(spd_grid_fftshift); % PS_sig_single_ch = abs(fftshift(sig_rng_dop_fft2 ,2)).^2/NumChirps/NumSamples/rngFFTlen/velFFTlen; % PS_noise_single_ch = abs(fftshift(noise_rng_dop_fft2 ,2)).^2/NumChirps/NumSamples/rngFFTlen/velFFTlen; PS_sig_single_ch = abs(sig_rng_dop_fft2).^2/NumChirps/NumSamples/rngFFTlen/velFFTlen; PS_noise_single_ch = abs(noise_rng_dop_fft2).^2/NumChirps/NumSamples/rngFFTlen/velFFTlen; Winloss_dB = 0; RBW_noise = fs/velFFTlen/rngFFTlen; %noise_floor_dBm = pow2db(kb * T0) + NF_dB + pow2db(RBW_noise) + Rxgain_dB + Winloss_dB + pow2db(sum(winDop(1,:,1).^2)/velFFTlen) + pow2db(sum(winRng(:,1,1).^2)/rngFFTlen) + 30; %noise_floor_dBm = pow2db(kb * T0) + NF_dB + pow2db(RBW_noise) + Rxgain_dB + Winloss_dB + pow2db(1/4) - 1.76*2 + 30; noise_floor_dBm = pow2db(kb * T0) + NF_dB + pow2db(RBW_noise) + Rxgain_dB + pow2db(sum(winDop(1,:,1).^2)/velFFTlen) + pow2db(sum(winRng(:,1,1).^2)/rngFFTlen) + 30; % Mean noise power in single channel np_true_single_ch = sum(PS_noise_single_ch,2) / NumChirps; np_esti_single_ch = zeros(maxrngFFTidx, Nr); for ch_idx = 1 : Nr for rng_idx = 1 : maxrngFFTidx [find_noise_index, l, u, np_esti_single_ch(rng_idx, ch_idx)] = isoutlier(PS_sig_single_ch(rng_idx, :, ch_idx), "percentiles", [10 80]); end end if flag_plot_RVM == 1 figure for ch_idx = 1 : Nr subplot(sqrt(Nr), sqrt(Nr), ch_idx); mesh(spd_grid_fftshift, rng_grid(1:maxrngFFTidx), pow2db((squeeze(PS_sig_single_ch(1:maxrngFFTidx, :, ch_idx)))) + 30); xlabel('Vel [m/s]'); ylabel('Rng [m]'); zlabel('Pow [dBm]'); hold on mesh(spd_grid_fftshift, rng_grid(1:maxrngFFTidx), noise_floor_dBm*ones(maxrngFFTidx, velFFTlen), 'EdgeColor', 'r'); mesh(spd_grid_fftshift, rng_grid(1:maxrngFFTidx), pow2db(np_esti_single_ch(:, ch_idx).*ones(1,velFFTlen)) + 30, 'EdgeColor', 'g'); legend('Received Data', 'Expected Noise Floor', 'Esti. Noise Floor', 'Location', 'best'); hold off title(['Ch : ', num2str(ch_idx)]); end end % figure % imagesc(spd_grid, rng_grid(1:416), (pow2db(abs(sig_fft2(1:416,:,1))))) % xlabel('Speed (m/s)'); ylabel('Range (m)'); title('Range Velocity Map'); % axis([-vel_max vel_max 0 rng_max]) % colorbar % 1. Generate RV Quarter Matrix % 1-1. NCI Rx sig_Rx_NCI = sum(abs(sig_rng_dop_fft2).^2, 3) / Nr; noise_Rx_NCI = sum(abs(noise_rng_dop_fft2).^2, 3) / Nr; PS_sig_Rx_NCI = sig_Rx_NCI/NumChirps/NumSamples/rngFFTlen/velFFTlen; PS_noise_Rx_NCI = noise_Rx_NCI/NumChirps/NumSamples/rngFFTlen/velFFTlen; if flag_plot_RVM == 1 figure mesh(spd_grid_fftshift, rng_grid(1:maxrngFFTidx), pow2db((PS_sig_Rx_NCI(1:maxrngFFTidx,:))) + 30); axis([-vel_max vel_max 0 rng_max]); xlabel('Speed [m/s]'); ylabel('Range [m]'); zlabel('Power [dBm]'); title('RVM - NCI w.r.t Rx'); end % NCI Tx sig_TxRx_NCI = (1/4) * (sig_Rx_NCI(:,1:velFFTlen/4) + sig_Rx_NCI(:,velFFTlen/4 + 1 : 2*velFFTlen/4) + sig_Rx_NCI(:,2*velFFTlen/4 + 1 : 3*velFFTlen/4 ) + sig_Rx_NCI(:,3*velFFTlen/4+1 : end)); noise_TxRx_NCI = (1/4) * (noise_Rx_NCI(:,1:velFFTlen/4) + noise_Rx_NCI(:,velFFTlen/4 + 1 : 2*velFFTlen/4) + noise_Rx_NCI(:,2*velFFTlen/4 + 1 : 3*velFFTlen/4 ) + noise_Rx_NCI(:,3*velFFTlen/4+1 : end)); PS_sig_TxRx_NCI = sig_TxRx_NCI/NumChirps/NumSamples/rngFFTlen/velFFTlen; PS_noise_TxRx_NCI = noise_TxRx_NCI/NumChirps/NumSamples/rngFFTlen/velFFTlen; if flag_plot_RVM == 1 figure mesh(pow2db(PS_sig_TxRx_NCI(1:maxrngFFTidx,:)) + 30); xlabel('Dop idx'); ylabel('Rng idx'); zlabel('Power [dBm]'); title('RVM - NCI w.r.t Tx and Rx'); end % 2. Noise Estimation np_esti_TxRx_NCI = zeros(maxrngFFTidx, 1); for rng_idx = 1 : maxrngFFTidx [cal_noise_index, l, u, np_esti_TxRx_NCI(rng_idx)] = isoutlier(PS_sig_TxRx_NCI(rng_idx, :), "percentiles", [10 60]); end np_true_TxRx_NCI = sum(PS_noise_TxRx_NCI(1:maxrngFFTidx,:), 2) / (NumChirps/(length(DDMA_idx)+1)); if flag_plot_noise_esti == 1 figure plot(pow2db(np_true_single_ch(1:maxrngFFTidx)) + 30); hold on plot(pow2db(np_esti_single_ch) + 30); plot(pow2db(np_true_TxRx_NCI(1:maxrngFFTidx)) + 30); plot(pow2db(np_esti_TxRx_NCI) + 30); legend('NP ture in single ch.', 'NP esti in single ch.', 'NP true at TxRxNCI', 'NP esti at TxRxNCI'); zlabel('Power [dBm]'); end % 3. Detection % 3-1. Setting Threshold snr_th = db2pow(13); % 3-2. Find det index [det_index_peak, b] = findpeak2D(PS_sig_TxRx_NCI(1:maxrngFFTidx,:), []); det_index_th = []; for rngidx = 1 : maxrngFFTidx det_index_th = [det_index_th ; PS_sig_TxRx_NCI(rngidx, :) > np_esti_TxRx_NCI(rngidx) * snr_th]; end det_index = det_index_th .* det_index_peak; [rngidx_set, dopidx_set] = find(det_index>0); for det_idx = 1 : length(rngidx_set) temp_DET_set{det_idx}.r_m = rng_grid(rngidx_set(det_idx)); temp_DET_set{det_idx}.snr_db = pow2db((PS_sig_TxRx_NCI(rngidx_set(det_idx), dopidx_set(det_idx))) / np_esti_TxRx_NCI(rngidx_set(det_idx))); end % 4. DOA estimation % 4-1. Generate Snapshot and Resolving Doppler ambiguity by DDMA adddopidx = [192 0 64 128]; snapshot_idx_set = [4 1 2 3; 3 4 1 2; 2 3 4 1; 1 2 3 4]; temp_snapshot_data = zeros((Nt+1)*Nr,length(rngidx_set)); for idx = 1 : length(rngidx_set) temp_snapshot = zeros((Nt+1)*Nr,1); for txidx = 1 : Nt+1 temp_snapshot(Nr*(txidx-1)+1 : Nr*txidx) = squeeze(sig_rng_dop_fft2_wo_n(rngidx_set(idx), dopidx_set(idx)+64*(txidx-1), :)); end % Find virtual channel by selecting min power channel rxchpow = sum(abs(reshape(temp_snapshot, Nt+1, Nr)).^2); [minval, minloc] = min(rxchpow); dopidx_set(idx) = dopidx_set(idx) + adddopidx(minloc); for txidx = 1 : Nt+1 temp_snapshot_data(Nr*(txidx-1)+1 : Nr*txidx, idx) = temp_snapshot(4*snapshot_idx_set(minloc, txidx)-3 : 4*snapshot_idx_set(minloc, txidx)); end end snapshot_data = temp_snapshot_data(1:Nt*Nr, :); % Add resolved vel info to DET_set structure for det_idx = 1 : length(rngidx_set) temp_DET_set{det_idx}.v_amb_mps = spd_grid_no_fftshift(dopidx_set(det_idx)); end % 4-2. DOA estimation az_array_pos = mimoarray(2, :) / u_azi; elv_Unit = u_elv / lambda_c; test_ang_azi_deg = -90 : 0.1 : 90; test_ang_elev_deg = 0; array_struct.azi_eff_ch_loc = az_array_pos; array_struct.elv_eff_ch_loc = 0; array_struct.u_azi = u_azi; array_struct.u_elv = 0; det_jdx = 1; for det_idx = 1 : size(snapshot_data, 2) % DOA estimation % Elv esti. elv_phase_diff = conj(snapshot_data(9, det_idx)) * snapshot_data(4, det_idx); temp_esti_elv_deg = asind(angle(elv_phase_diff)/2/pi/elv_Unit); % Azi esti. Ntarget = 1; [esti_azi_deg, P_CBF(det_idx,:)] = df_cbf(snapshot_data(:,det_idx), test_ang_elev_deg, test_ang_azi_deg, lambda_c, array_struct, Ntarget); esti_elv_deg = temp_esti_elv_deg * ones(1, length(esti_azi_deg)); % Construct DET set structure for angidx = 1 : length(esti_azi_deg) DET_set{det_jdx} = temp_DET_set{det_idx}; DET_set{det_jdx}.az_deg = esti_azi_deg(angidx); DET_set{det_jdx}.el_deg = esti_elv_deg(angidx); DET_set{det_jdx}.x_m = DET_set{det_jdx}.r_m * cosd(DET_set{det_jdx}.az_deg); DET_set{det_jdx}.y_m = DET_set{det_jdx}.r_m * sind(DET_set{det_jdx}.az_deg); DET_set{det_jdx}.z_m = DET_set{det_jdx}.r_m * sind(DET_set{det_jdx}.el_deg); det_jdx = det_jdx + 1; end end %% Results if flag_plot_birdview == 1 figure; x_m_set = cellfun(@(x) x.x_m, DET_set); y_m_set = cellfun(@(x) x.y_m, DET_set); z_m_set = cellfun(@(x) x.z_m, DET_set); r_m_set = cellfun(@(x) x.r_m, DET_set); v_amb_mps_set = cellfun(@(x) x.v_amb_mps, DET_set); az_deg_set = cellfun(@(x) x.az_deg, DET_set); el_deg_set = cellfun(@(x) x.el_deg, DET_set); snr_db_set = cellfun(@(x) x.snr_db, DET_set); plotdet = plot3(y_m_set, x_m_set, z_m_set, 'bo'); set(gca, 'XDir', 'reverse'); fn_add_data_tip(plotdet, 'Rng [m]:', r_m_set, 1); fn_add_data_tip(plotdet, 'aVel [m/s]:', v_amb_mps_set, 2); fn_add_data_tip(plotdet, 'Azi [deg]:', az_deg_set, 3); fn_add_data_tip(plotdet, 'Elv [deg]:', el_deg_set, 4); fn_add_data_tip(plotdet, 'SNR [dB]:', snr_db_set, 5); fn_add_data_tip(plotdet, 'X [m]:', x_m_set, 6); fn_add_data_tip(plotdet, 'Y [m]:', y_m_set, 7); fn_add_data_tip(plotdet, 'Z [m]:', z_m_set, 8); view([0, 90]); grid on xlabel('Y [m]') ylabel('X [m]') zlabel('Z [m]') xlim([-rng_max, rng_max]) ylim([0 rng_max]) title('BirdView') end