A Three-Dimensional Position Architecture Using Digital TDE Receiver and Cylindrical Array Antenna
1 Department of Communications Engineering, Communication Research Center, Yuan-Ze University, Yuan-Ze University 135 Yuan-Tung Road, Jungli, Taoyuan 320, Taiwan, R.O.C.
2 Department of Communications Engineering, Yuan-Ze University, Yuan-Ze University 135 Yuan-Tung Road, Jungli, Taoyuan 320, Taiwan, R.O.C.
3 Department of Communications Engineering, Yuan-Ze University, Yuan-Ze University 135 Yuan-Tung Road, Jungli, Taoyuan 320, Taiwan, R.O.C.
4 Department of Communications Engineering, Yuan-Ze University, Yuan-Ze University 135 Yuan-Tung Road, Jungli, Taoyuan 320, Taiwan, R.O.C.
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Lin, C.P. Lin" "autores" => array:2 [ 0 => array:2 [ "nombre" => "C.H." "apellidos" => "Lin" ] 1 => array:2 [ "nombre" => "C.P." 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Mar, S.R. Wu, Y.T. Wang, K.C. Tsai" "autores" => array:4 [ 0 => array:4 [ "nombre" => "J." "apellidos" => "Mar" "email" => array:1 [ 0 => "eejmar@saturn.yzu.edu.tw" ] "referencia" => array:1 [ 0 => array:2 [ "etiqueta" => "<span class="elsevierStyleSup">1</span>" "identificador" => "aff0005" ] ] ] 1 => array:3 [ "nombre" => "S.R." "apellidos" => "Wu" "referencia" => array:1 [ 0 => array:2 [ "etiqueta" => "<span class="elsevierStyleSup">2</span>" "identificador" => "aff0010" ] ] ] 2 => array:3 [ "nombre" => "Y.T." "apellidos" => "Wang" "referencia" => array:1 [ 0 => array:2 [ "etiqueta" => "<span class="elsevierStyleSup">3</span>" "identificador" => "aff0015" ] ] ] 3 => array:3 [ "nombre" => "K.C." "apellidos" => "Tsai" "referencia" => array:1 [ 0 => array:2 [ "etiqueta" => "<span class="elsevierStyleSup">4</span>" "identificador" => "aff0020" ] ] ] ] "afiliaciones" => array:4 [ 0 => array:3 [ "entidad" => "Department of Communications Engineering, Communication Research Center, Yuan-Ze University, Yuan-Ze University 135 Yuan-Tung Road, Jungli, Taoyuan 320, Taiwan, R.O.C." "etiqueta" => "1" "identificador" => "aff0005" ] 1 => array:3 [ "entidad" => "Department of Communications Engineering, Yuan-Ze University, Yuan-Ze University 135 Yuan-Tung Road, Jungli, Taoyuan 320, Taiwan, R.O.C." "etiqueta" => "2" "identificador" => "aff0010" ] 2 => array:3 [ "entidad" => "Department of Communications Engineering, Yuan-Ze University, Yuan-Ze University 135 Yuan-Tung Road, Jungli, Taoyuan 320, Taiwan, R.O.C." "etiqueta" => "3" "identificador" => "aff0015" ] 3 => array:3 [ "entidad" => "Department of Communications Engineering, Yuan-Ze University, Yuan-Ze University 135 Yuan-Tung Road, Jungli, Taoyuan 320, Taiwan, R.O.C." "etiqueta" => "4" "identificador" => "aff0020" ] ] ] ] "resumenGrafico" => array:2 [ "original" => 0 "multimedia" => array:7 [ "identificador" => "f0010" "etiqueta" => "Figure 2" "tipo" => "MULTIMEDIAFIGURA" "mostrarFloat" => true "mostrarDisplay" => false "figura" => array:1 [ 0 => array:4 [ "imagen" => "gr2.jpeg" "Alto" => 611 "Ancho" => 857 "Tamanyo" => 73536 ] ] "descripcion" => array:1 [ "en" => "<p id="sp0010" class="elsevierStyleSimplePara elsevierViewall">Test scenario.</p>" ] ] ] "textoCompleto" => "<span class="elsevierStyleSections"><span id="sec0005" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">1</span><span class="elsevierStyleSectionTitle" id="sect0015">Introduction</span><p id="par0005" class="elsevierStylePara elsevierViewall">Since the United State Federal Communication Commission (FCC) in 1996 published the E-911 positioning standards, wireless location technology is extensively studied for its commercial value. The research of positioning method, including time difference of arrival (TDOA), direction of arrival (DOA) or hybrid TDOA/DOA algorithms, mostly bases on Gauss-Newton Interpolation (GNI) algorithm to estimate the location coordinates of mobile station (MS) in two-dimensional space <a class="elsevierStyleCrossRef" href="#bib0005">[1]</a>. The GNI algorithm can be applied to different types of measurements in the position system. For some applications, including land-to-air communications and passive radars; they need to provide the target locations in the three-dimensional space <a class="elsevierStyleCrossRef" href="#bib0010">[2]</a>. The multi-station TDOA position system, which employs optical communications to send the received signal of each station to a reference station to calculate the TDOA between the reference station and each station, has the advantages of high accuracy and low system complexity. Because the synchronization problem becomes simple and the common channel error can be eliminated among different stations.</p><p id="par0010" class="elsevierStylePara elsevierViewall">In this paper, we focus attention on the study of three-dimensional position system. The data fusion of four-station TDOA based on GNI algorithm is in-depth investigated. The hybrid three-station TDOA and DOA position system <a class="elsevierStyleCrossRef" href="#bib0015">[3]</a> was used to extend the location function as soon as one of four four-stations is missing. The cylindrical array antenna is designed to measure the target DOA for the hybrid position system. A general formula of linear phase compensation for cylindrical array antenna in horizontal plane is derived. In addition, the detection performance of the digital time delay estimation (TDE) receiver is numerically evaluated.</p><p id="par0015" class="elsevierStylePara elsevierViewall">The structure of the paper is described as follows. <a class="elsevierStyleCrossRef" href="#sec0010">Section II</a> presents the principle of digital TDE receiver and the GNI algorithm of four-station TDOA position system. In <a class="elsevierStyleCrossRef" href="#sec0025">Section III</a>, the algorithm of hybrid TDOA and DOA position system and the multimode digital beam-former (DBF) for cylindrical array antenna are described. In <a class="elsevierStyleCrossRef" href="#sec0040">Section IV</a>, the detection probability for TDE measurements and the position accuracy of the four-station TDOA and hybrid TDOA and DOA position systems are simulated. The detection performance of the <a name="p176"></a>proposed digital TDE receiver using linear optimum filter is compared with typical TDE method <a class="elsevierStyleCrossRef" href="#bib0020">[4]</a> without using linear optimum filter to demonstrate its superiority. <a class="elsevierStyleCrossRef" href="#sec0045">Section V</a> concludes the paper. The formula of linear phase compensation for cylindrical array antenna in horizontal plane is derived in <a class="elsevierStyleCrossRef" href="#sec0055">Appendix A</a>.</p></span><span id="sec0010" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">2</span><span class="elsevierStyleSectionTitle" id="sect0020">Four-station TDOA location schemes</span><span id="sec0015" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">2.1</span><span class="elsevierStyleSectionTitle" id="sect0025">Principle of digital TDE receiver</span><p id="par0020" class="elsevierStylePara elsevierViewall">The TDE receiver, as shown in <a class="elsevierStyleCrossRef" href="#f0005">Figure 1</a>, is implemented by a digital cross correlator in frequency domain to detect the position of the dominant peak energy in time domain. Here we assume that receiver 1 is the reference station. When the moving target source emits the signal <span class="elsevierStyleItalic">s</span>[n] in three-dimensional space, the received signal of the first receiver is given by</p><elsevierMultimedia ident="f0005"></elsevierMultimedia><p id="par0025" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0005"></elsevierMultimedia></p><p id="par0030" class="elsevierStylePara elsevierViewall">The received signals of other three receivers are given by</p><p id="par0035" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0010"></elsevierMultimedia></p><p id="par0040" class="elsevierStylePara elsevierViewall">Then, the output of the cross correlation in frequency domain between station 1 and station <span class="elsevierStyleItalic">i</span> for <span class="elsevierStyleItalic">i</span>=2,3,4 is</p><p id="par0045" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0015"></elsevierMultimedia></p><p id="par0050" class="elsevierStylePara elsevierViewall">where <span class="elsevierStyleItalic">D<span class="elsevierStyleInf">i</span></span><span class="elsevierStyleInf">1</span> is the discrete time delay between receiver <span class="elsevierStyleItalic">i</span> and receiver 1, and</p><p id="par0055" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0020"></elsevierMultimedia></p><p id="par0060" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0025"></elsevierMultimedia></p><p id="par0065" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0030"></elsevierMultimedia></p><p id="par0070" class="elsevierStylePara elsevierViewall">The typical TDE using cross correlation of wideband signals has been analyzed in <a class="elsevierStyleCrossRef" href="#bib0020">[4]</a>, where the linear optimum filter was not included in the design.To reduce the occurrence of false peak due to the channel effect, a linear optimum filter is designed to maximize the expected signal peak relative to the output noise. The transfer function of the optimum filter is given by <a class="elsevierStyleCrossRef" href="#bib0025">[5]</a></p><p id="par0075" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0035"></elsevierMultimedia></p><p id="par0080" class="elsevierStylePara elsevierViewall">Where</p><p id="par0085" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0040"></elsevierMultimedia></p><p id="par0090" class="elsevierStylePara elsevierViewall">The correlation output between receiver <span class="elsevierStyleItalic">i</span> and receiver 1 in time domain is determined by</p><p id="par0095" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0045"></elsevierMultimedia></p><p id="par0100" class="elsevierStylePara elsevierViewall">Then the discrete time delay between receiver <span class="elsevierStyleItalic">i</span> and receiver 1 is estimated at a peak energy discrete time position <span class="elsevierStyleItalic">Î<span class="elsevierStyleInf">i</span></span><span class="elsevierStyleHsp" style=""></span>=<span class="elsevierStyleHsp" style=""></span><span class="elsevierStyleItalic">D</span><span class="elsevierStyleInf">i1</span>, <span class="elsevierStyleItalic">i</span><span class="elsevierStyleHsp" style=""></span>=<span class="elsevierStyleHsp" style=""></span>2,3,4. The initial target location is solved by three hyperbolic equations.</p><p id="par0105" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0050"></elsevierMultimedia></p><p id="par0110" class="elsevierStylePara elsevierViewall">where (<span class="elsevierStyleItalic">X<span class="elsevierStyleInf">i</span>, Y<span class="elsevierStyleInf">i</span>, Z<span class="elsevierStyleInf">i</span></span>,) and (<span class="elsevierStyleItalic">X</span><span class="elsevierStyleInf">1</span>, <span class="elsevierStyleItalic">Y</span><span class="elsevierStyleInf">1</span>, <span class="elsevierStyleItalic">Z</span><span class="elsevierStyleInf">1</span>,) are the coordination of the <span class="elsevierStyleItalic">i<span class="elsevierStyleInf">th</span></span> and the 1<span class="elsevierStyleItalic"><span class="elsevierStyleInf">th</span></span> receivers; (<span class="elsevierStyleItalic">x</span>,<span class="elsevierStyleItalic">y</span>,<span class="elsevierStyleItalic">z</span>) is the target location. <span class="elsevierStyleItalic">r<span class="elsevierStyleInf">i,</span></span><span class="elsevierStyleInf">1</span> can be obtained from the measured time delay between receiver <span class="elsevierStyleItalic">i</span> and receiver 1.</p><p id="par0115" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0055"></elsevierMultimedia><a name="p177"></a></p><p id="par0120" class="elsevierStylePara elsevierViewall">where <span class="elsevierStyleItalic">N</span> is the size of the fast Fourier transform (FFT) and <span class="elsevierStyleItalic">f<span class="elsevierStyleInf">s</span></span> is the sampling frequency of the analog-to-digital converter. The target location in the three dimensional space is calculated by solving three hyperbolic of <a class="elsevierStyleCrossRef" href="#eq0050">Eq.10</a>. Therefore, the measured TDOA values are expressed as</p><p id="par0125" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0060"></elsevierMultimedia></p></span><span id="sec0020" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">2.2</span><span class="elsevierStyleSectionTitle" id="sect0030">GNI algorithm <a class="elsevierStyleCrossRef" href="#bib0005">[1]</a><a class="elsevierStyleCrossRef" href="#bib0010">[2]</a></span><p id="par0130" class="elsevierStylePara elsevierViewall">The GNI is an iteration algorithm, which uses the least square error (LSE) method to correct the initial estimated target location in the iteration until the error approaches zero. If guesses of the true initial target location (<span class="elsevierStyleItalic">x<span class="elsevierStyleInf">v</span></span>,<span class="elsevierStyleItalic">y<span class="elsevierStyleInf">v</span></span>,z<span class="elsevierStyleItalic"><span class="elsevierStyleInf">v</span></span>) is estimated using four-station TDOA method, by means of the first order Taylor expansion, the position equation is expressed in matrix form.</p><p id="par0135" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0065"></elsevierMultimedia></p><p id="par0140" class="elsevierStylePara elsevierViewall">where</p><p id="par0145" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0070"></elsevierMultimedia></p><p id="par0150" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0075"></elsevierMultimedia></p><p id="par0155" class="elsevierStylePara elsevierViewall">where</p><p id="par0160" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0080"></elsevierMultimedia></p><p id="par0165" class="elsevierStylePara elsevierViewall">e→ is a measurement error vector and δ→ is an estimated position error vector in the iteration.</p><p id="par0170" class="elsevierStylePara elsevierViewall"><span class="elsevierStyleItalic">ε<span class="elsevierStyleInf">i</span></span><span class="elsevierStyleInf">1</span>, <span class="elsevierStyleItalic">i</span><span class="elsevierStyleHsp" style=""></span>=<span class="elsevierStyleHsp" style=""></span>2,3,4 are identical independent distributed (IID) random variable with zero mean and covariance matrix <span class="elsevierStyleItalic">R</span><span class="elsevierStyleInf">0</span> of measurement error.</p><p id="par0175" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0085"></elsevierMultimedia></p><p id="par0180" class="elsevierStylePara elsevierViewall">where σi12,i=2,3,4 are the variance of TDOA measurement error. Then, the correction error at each step is</p><p id="par0185" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0090"></elsevierMultimedia></p><p id="par0190" class="elsevierStylePara elsevierViewall">Thus, the next estimated target location is replaced wit xˆv=xv+δx,yˆv=yv+δy,zˆv=zv+δz, <span class="elsevierStyleItalic">ŷ<span class="elsevierStyleInf">v</span></span><span class="elsevierStyleHsp" style=""></span>=<span class="elsevierStyleHsp" style=""></span><span class="elsevierStyleItalic">y<span class="elsevierStyleInf">v</span></span><span class="elsevierStyleHsp" style=""></span>+<span class="elsevierStyleHsp" style=""></span><span class="elsevierStyleItalic">δ<span class="elsevierStyleInf">y</span>, ẑ<span class="elsevierStyleInf">v</span></span><span class="elsevierStyleHsp" style=""></span><span class="elsevierStyleInf">=</span><span class="elsevierStyleHsp" style=""></span><span class="elsevierStyleItalic">z<span class="elsevierStyleInf">v</span></span><span class="elsevierStyleHsp" style=""></span>+<span class="elsevierStyleHsp" style=""></span><span class="elsevierStyleItalic">δ<span class="elsevierStyleInf">z</span></span>.As soon as δ→ approaches to zero, the error covariance matrix becomes</p><p id="par0195" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0095"></elsevierMultimedia></p><p id="par0200" class="elsevierStylePara elsevierViewall">For estimating three-dimensional target position, the accuracy of the position estimation is evaluated by the circular error probability (CEP) <a class="elsevierStyleCrossRef" href="#bib0010">[2]</a><a class="elsevierStyleCrossRef" href="#bib0030">[6]</a> in xy-axis and xz-axis, which is a function of <span class="elsevierStyleItalic">Q</span><span class="elsevierStyleInf">0</span>. When the calculated errors are no more than 11%, the CEPs in xy-axis and xz-axis are approximated by</p><p id="par0205" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0100"></elsevierMultimedia></p><p id="par0210" class="elsevierStylePara elsevierViewall">where</p><p id="par0215" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0105"></elsevierMultimedia></p><p id="par0220" class="elsevierStylePara elsevierViewall">Therefore, the final position estimates are distributed in an error ellipsoid.<a name="p178"></a></p></span></span><span id="sec0025" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">3</span><span class="elsevierStyleSectionTitle" id="sect0035">Hybrid three-station TDOA and DOA position system</span><span id="sec0030" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">3.1</span><span class="elsevierStyleSectionTitle" id="sect0040">Algorithm</span><p id="par0225" class="elsevierStylePara elsevierViewall">For hybrid three-station TDOA and DOA position system, the target location can be estimated by the same procedure as the four-station TDOA position system except changing <a class="elsevierStyleCrossRef" href="#eq0070">Eqs.14</a> and <a class="elsevierStyleCrossRef" href="#eq0070">15</a> as follows.</p><p id="par0230" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0110"></elsevierMultimedia></p><p id="par0235" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0115"></elsevierMultimedia></p><p id="par0240" class="elsevierStylePara elsevierViewall">where</p><p id="par0245" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0120"></elsevierMultimedia></p><p id="par0250" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0125"></elsevierMultimedia></p><p id="par0255" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0130"></elsevierMultimedia></p><p id="par0260" class="elsevierStylePara elsevierViewall">The DOA measurement values in horizon and elevation are defined as</p><p id="par0265" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0135"></elsevierMultimedia></p><p id="par0270" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0140"></elsevierMultimedia></p><p id="par0275" class="elsevierStylePara elsevierViewall">By means of the first order Taylor expansion, the true DOA angles in horizon and elevation are given by <a class="elsevierStyleCrossRef" href="#bib0010">[2]</a></p><p id="par0280" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0145"></elsevierMultimedia></p><p id="par0285" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0150"></elsevierMultimedia></p><p id="par0290" class="elsevierStylePara elsevierViewall">σθ2 and σφ2 are the variance of measured DOA errors <span class="elsevierStyleItalic">ε<span class="elsevierStyleInf">θ</span></span> and <span class="elsevierStyleItalic">ε<span class="elsevierStyleInf">ϕ</span></span>, respectively.</p></span><span id="sec0035" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">3.2</span><span class="elsevierStyleSectionTitle" id="sect0045">Cylindrical Array Antenna</span><p id="par0295" class="elsevierStylePara elsevierViewall">A <span class="elsevierStyleItalic">M</span>×<span class="elsevierStyleItalic">L</span> cylindrical array antenna is proposed to generate three-dimensional beam pattern with equal horizontal beamwidth for hybrid three-station TDOA and DOA position system.A general formula of linear phase compensation for <span class="elsevierStyleItalic">N</span>-element sub-array of <span class="elsevierStyleItalic">M</span>-element cylindrical array antenna in horizontal plane is derived in <a class="elsevierStyleCrossRef" href="#sec0055">Appendix A</a>. When <span class="elsevierStyleItalic">N</span> is even, the time delay compensation for the sub-array antenna is summarized by</p><p id="par0300" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0155"></elsevierMultimedia></p><p id="par0305" class="elsevierStylePara elsevierViewall">The separation distances among the neighbouring elements of the non-uniform linear sub-array are</p><p id="par0310" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0160"></elsevierMultimedia></p><p id="par0315" class="elsevierStylePara elsevierViewall">To meet the requirements of the 22.5°(ideal) beam width and -20dB side lobe level in horizontal plane, <a name="p179"></a>a sub-array with six omni-directional elements and Chebyshev weightings <span class="elsevierStyleItalic">I<span class="elsevierStyleInf">n</span></span><span class="elsevierStyleHsp" style=""></span>=<span class="elsevierStyleHsp" style=""></span>[0.36, 0.6, 1, 1, 0.6, 0.36] is chosen to simulate the beam pattern<a class="elsevierStyleCrossRef" href="#bib0035">[7]</a>.</p><p id="par0320" class="elsevierStylePara elsevierViewall">The multimode DBF consists of a multiple beam (MB) and DOA modes. For MB mode, the output of each antenna element is subdivided into N independent signals by a (N-1)-way power divider. After the linear phase compensation, N independent signals are obtained from N adjacent elements and combined with associated weightings to generate a beam pattern of the N-element sub-array with the -20dB side lobe level in horizontal plane. The M-element array yields M beams to cover the 360° in azimuth. Each of the M beams is pointed in a fixed direction.</p><p id="par0325" class="elsevierStylePara elsevierViewall">The amplitude comparison DOA mode <a class="elsevierStyleCrossRef" href="#bib0035">[7]</a> uses two neighbouring beams of the multi-beam antenna array with equal beam width to receive the target signal simultaneously. The signal amplitudes simultaneously received from two neighbouring beams are compared to obtain a difference signal. The measured difference signal power corresponding to the DOA of the signal from an air target is pre-stored in a look-up table of memory. The accuracy of amplitude comparison DOA mode is determined by the angular slope, which is defined as the rate of change in the power of the difference signal generated from the two neighbouring beams to the spatial angle. The more angular the slope is, the greater the accuracy of the DOA mode will be. The multi-beam antenna array is designed with the equal beam width so the amplitude comparison DOA mode can achieve the same accuracy as the DOA estimation in different directions.</p></span></span><span id="sec0040" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">4</span><span class="elsevierStyleSectionTitle" id="sect0050">Simulations</span><p id="par0330" class="elsevierStylePara elsevierViewall">Simulations are performed to demonstrate the accuracy of the four-station TDOA and hybrid TDOA and DOA position systems. The 2048-point sampled orthogonal frequency division multiplexing waveform (OFDM) <a class="elsevierStyleCrossRef" href="#bib0040">[8]</a> is used to simulate target emitted signal over a two-ray Rayleigh fading channel <a class="elsevierStyleCrossRef" href="#bib0045">[9]</a>. The size of FFT is 4096 points. The TDOA measurement error is assumed to be Gaussian distributed with N (0, 10 nsec). For a 16×6 cylindrical array antenna, the horizontal antenna beamwidth is 23.4° and the elevation antenna beamwidth is 19.4°.The DOA measurement errors in horizon and elevation angles are uniformly distributed in (-11.7°, 11.7°) and (-9.7°, 9.7°), respectively. The coordinates of four stations and a three dimensional target trajectory are shown in <a class="elsevierStyleCrossRef" href="#f0010">Figure 2</a>, where the coordinates of four stations expressed in unit of meter are station 1 (0,0,0), station 2 (15000,26000,0), station 3 (15000,-26000,0), and station 4 (30000,0,0), respectively, the initial target location is (-70000,70000,13716), the inter-distance of four stations is 30Km, the distance between the station 1 and the initial target location is 100<span class="elsevierStyleHsp" style=""></span>Km. It is assumed that the target speed is 1102.6<span class="elsevierStyleHsp" style=""></span>Km/hr, the stations receive the signal emitted from target once per 3<span class="elsevierStyleHsp" style=""></span>Km, and the target trajectory equation is given by</p><elsevierMultimedia ident="f0010"></elsevierMultimedia><p id="par0335" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0165"></elsevierMultimedia></p><p id="par0340" class="elsevierStylePara elsevierViewall"><a class="elsevierStyleCrossRef" href="#f0015">Figure 3</a> shows that when the SNRs of receiver with linear optimum filter are -12.7dB, -15.45dB, and -18.03dB in Rayleigh, Rician, and AWGN channels, respectively, the time delay can be successfully measured with detection probability P<span class="elsevierStyleInf">d</span>=0.9 and false alarm probability P<span class="elsevierStyleInf">FA</span>=10<span class="elsevierStyleSup">-4</span>. The proposed method is compared with the typical method <a class="elsevierStyleCrossRef" href="#bib0020">[4]</a> in which the linear optimum filter is not applied to TDE receiver. As shown in <a class="elsevierStyleCrossRef" href="#f0015">Figure 3</a>, the SNR of receiver without linear optimum filter is -7dB in Rayleigh channel for P<span class="elsevierStyleInf">d</span>=0.9 and P<span class="elsevierStyleInf">FA</span>=10<span class="elsevierStyleSup">-4</span>.<a name="p180"></a></p><elsevierMultimedia ident="f0015"></elsevierMultimedia><p id="par0345" class="elsevierStylePara elsevierViewall">The CEP<span class="elsevierStyleInf">xy</span> and CEP<span class="elsevierStyleInf">xz</span> of the four-station TDOA position system and the hybrid TDOA and DOA position system operated in Rayleigh fading channel are shown in <a class="elsevierStyleCrossRef" href="#f0020">Figures 4</a> and <a class="elsevierStyleCrossRef" href="#f0030">5</a> for SNR=-12.7dB, respectively. The minimum and maximum CEP values are listed in <a class="elsevierStyleCrossRef" href="#tbl0005">Table 1</a>, which demonstrates that the accuracy of the four-station TDOA position system is better than the hybrid TDOA and DOA position system.</p><elsevierMultimedia ident="f0020"></elsevierMultimedia><elsevierMultimedia ident="f0030"></elsevierMultimedia><elsevierMultimedia ident="tbl0005"></elsevierMultimedia></span><span id="sec0045" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">5</span><span class="elsevierStyleSectionTitle" id="sect0055">Conclusions</span><p id="par0355" class="elsevierStylePara elsevierViewall">In this paper, the digital TDE receiver is designed for TDOA measurements and a cylindrical array antenna is designed for DOA measurement. The OFDM signal is used to test the position accuracy over Rayleigh fading channel. When the SNR of the digital TDE receiver is -12.7dB, the TDOA can be successfully measured with detection probability of 0.9 and false alarm probability of 10<span class="elsevierStyleSup">-4</span>. The proposed TDE receiver get 5.7dB gain compared with typical TDE receiver <a class="elsevierStyleCrossRef" href="#bib0020">[4]</a> without using linear optimum filter. The accuracy of the four-station TDOA position system is superior to the hybrid TDOA and DOA position system. But the location function of the position system is still available when the received signal of any one of four stations cannot be sent to the reference station. Simulations find out that the proposed three-dimensional position architecture can provide accurate and reliable target location function.<a name="p181"></a></p></span><span id="sec0050" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0060">Acknowledgements</span><p id="par0360" class="elsevierStylePara elsevierViewall">The research work was supported by the research grants from National Science Council, Taiwan, R. O. C. (NSC 99-2221-E-155 -031) and CSIST.</p></span></span>" "textoCompletoSecciones" => array:1 [ "secciones" => array:9 [ 0 => array:3 [ "identificador" => "xres498750" "titulo" => "Abstract" "secciones" => array:1 [ 0 => array:1 [ "identificador" => "abst0005" ] ] ] 1 => array:2 [ "identificador" => "xpalclavsec520281" "titulo" => "Keywords" ] 2 => array:2 [ "identificador" => "sec0005" "titulo" => "Introduction" ] 3 => array:3 [ "identificador" => "sec0010" "titulo" => "Four-station TDOA location schemes" "secciones" => array:2 [ 0 => array:2 [ "identificador" => "sec0015" "titulo" => "Principle of digital TDE receiver" ] 1 => array:2 [ "identificador" => "sec0020" "titulo" => "GNI algorithm [1][2]" ] ] ] 4 => array:3 [ "identificador" => "sec0025" "titulo" => "Hybrid three-station TDOA and DOA position system" "secciones" => array:2 [ 0 => array:2 [ "identificador" => "sec0030" "titulo" => "Algorithm" ] 1 => array:2 [ "identificador" => "sec0035" "titulo" => "Cylindrical Array Antenna" ] ] ] 5 => array:2 [ "identificador" => "sec0040" "titulo" => "Simulations" ] 6 => array:2 [ "identificador" => "sec0045" "titulo" => "Conclusions" ] 7 => array:2 [ "identificador" => "sec0050" "titulo" => "Acknowledgements" ] 8 => array:1 [ "titulo" => "References" ] ] ] "pdfFichero" => "main.pdf" "tienePdf" => true "PalabrasClave" => array:1 [ "en" => array:1 [ 0 => array:4 [ "clase" => "keyword" "titulo" => "Keywords" "identificador" => "xpalclavsec520281" "palabras" => array:4 [ 0 => "time delay estimation" 1 => "circular error probability" 2 => "time difference of arrival" 3 => "direction of arrival" ] ] ] ] "tieneResumen" => true "resumen" => array:1 [ "en" => array:2 [ "titulo" => "Abstract" "resumen" => "<span id="abst0005" class="elsevierStyleSection elsevierViewall"><p id="spar0010" class="elsevierStyleSimplePara elsevierViewall">The robust three-dimensional position architecture is proposed in the paper, where the hybrid time difference of arrival (TDOA) and direction of arrival (DOA) position system was designed to backup the four-station TDOA position system. The digital time delay estimation (TDE) receiver is used for TDOA measurement and the cylindrical array antenna is used for DOA measurement. The general formula of linear phase compensation for cylindrical array antenna in horizontal plane is derived. The detection probability of the TDE receiver and the circular error probability (CEP) of the position systems over Rayleigh fading channel were numerically computed in three-dimensional space. Simulations indicate that the position accuracy of the four-station TDOA position system is degraded but the location function can be retained by the hybrid TDOA and DOA position system when any one of four-stations is out of work.</p></span>" ] ] "apendice" => array:1 [ 0 => array:1 [ "seccion" => array:1 [ 0 => array:3 [ "apendice" => "<p id="par0365" class="elsevierStylePara elsevierViewall">Derivation of <a class="elsevierStyleCrossRef" href="#eq0155">Eqs (31)</a> and (<a class="elsevierStyleCrossRef" href="#eq0160">32</a>) of linear phase compensation for cylindrical array antenna in horizontal plane</p> <p id="par0370" class="elsevierStylePara elsevierViewall">The <span class="elsevierStyleItalic">M</span> elements of the cylindrical array antenna in horizontal plane are placed at the vertexes of a polygon of <span class="elsevierStyleItalic">M</span> sides. The separation distance between the elements is <span class="elsevierStyleItalic">d</span> and each internal angle is (<span class="elsevierStyleItalic">M</span>-2)π/<span class="elsevierStyleItalic">M</span>. Power dividers are used to generate <span class="elsevierStyleItalic">N</span> branches of the output signal from each sub-array element. Each signal can be individually combined with <span class="elsevierStyleItalic">N</span>-1 other signals of adjacent elements to generate a beam. When <span class="elsevierStyleItalic">N</span> is even, for the right half part of sub-array antenna, as shown in <a class="elsevierStyleCrossRef" href="#f0025">Figure A1</a>, the angle <span class="elsevierStyleItalic">θ</span><span class="elsevierStyleInf">0</span> of the (<span class="elsevierStyleItalic">N</span>/2<span class="elsevierStyleItalic">)<span class="elsevierStyleInf">th</span></span> array element with reference to horizontal axis is derived as</p><elsevierMultimedia ident="f0025"></elsevierMultimedia> <p id="par0375" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0170"></elsevierMultimedia></p> <p id="par0380" class="elsevierStylePara elsevierViewall">The angle <span class="elsevierStyleItalic">θ</span><span class="elsevierStyleInf">1</span> of the (<span class="elsevierStyleItalic">N</span>/2+1)<span class="elsevierStyleItalic"><span class="elsevierStyleInf">th</span></span> array element with reference to horizontal axis is derived as</p> <p id="par0385" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0175"></elsevierMultimedia></p> <p id="par0390" class="elsevierStylePara elsevierViewall">Therefore, the angle <span class="elsevierStyleItalic">θ<span class="elsevierStyleInf">i</span></span> of the (<span class="elsevierStyleItalic">N</span>/2+<span class="elsevierStyleItalic">i</span>)<span class="elsevierStyleItalic"><span class="elsevierStyleInf">th</span></span> array element is 2π<span class="elsevierStyleItalic">i</span>/<span class="elsevierStyleItalic">M</span>.</p> <p id="par0395" class="elsevierStylePara elsevierViewall">The separation distances among the neighboring elements for the right part sub-array are expressed as</p> <p id="par0400" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0180"></elsevierMultimedia></p> <p id="par0405" class="elsevierStylePara elsevierViewall">The time delay compensation for the right part subarray is given by</p> <p id="par0410" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0185"></elsevierMultimedia></p> <p id="par0415" class="elsevierStylePara elsevierViewall">For the left part sub-array, the angle of the (<span class="elsevierStyleItalic">N</span>/2-1)<span class="elsevierStyleItalic"><span class="elsevierStyleInf">th</span></span> array element with reference to horizontal axis is (2π/<span class="elsevierStyleItalic">M</span>)×1, and the (<span class="elsevierStyleItalic">N</span>/2-2)<span class="elsevierStyleItalic"><span class="elsevierStyleInf">th</span></span> array element with reference to horizontal axis is (2π/<span class="elsevierStyleItalic">M</span>)×2. The separation distances among the neighboring elements of the non-uniform linear array are</p> <p id="par0420" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0190"></elsevierMultimedia></p> <p id="par0425" class="elsevierStylePara elsevierViewall">The time delay compensation for the left part subarray is given by</p> <p id="par0430" class="elsevierStylePara elsevierViewall"><elsevierMultimedia ident="eq0195"></elsevierMultimedia></p> <p id="par0435" class="elsevierStylePara elsevierViewall"><a class="elsevierStyleCrossRef" href="#eq0155">Eq. 31</a> is in terms of <a class="elsevierStyleCrossRef" href="#eq0185">Eqs. A4</a> and <a class="elsevierStyleCrossRef" href="#eq0195">A6</a> and <a class="elsevierStyleCrossRef" href="#eq0160">Eq. 32</a> is in terms of <a class="elsevierStyleCrossRef" href="#eq0180">Eqs. A3</a> and <a class="elsevierStyleCrossRef" href="#eq0190">A5</a>.<a name="p182"></a></p>" "titulo" => "Appendix A." "identificador" => "sec0055" ] ] ] ] "multimedia" => array:46 [ 0 => array:7 [ "identificador" => "f0005" "etiqueta" => "Figure 1" "tipo" => "MULTIMEDIAFIGURA" "mostrarFloat" => true "mostrarDisplay" => false "figura" => array:1 [ 0 => array:4 [ "imagen" => "gr1.jpeg" "Alto" => 218 "Ancho" => 942 "Tamanyo" => 35526 ] ] "descripcion" => array:1 [ "en" => "<p id="sp0005" class="elsevierStyleSimplePara elsevierViewall">Block diagram of digital TDE receiver.</p>" ] ] 1 => array:7 [ "identificador" => "f0010" "etiqueta" => "Figure 2" "tipo" => "MULTIMEDIAFIGURA" "mostrarFloat" => true "mostrarDisplay" => false "figura" => array:1 [ 0 => array:4 [ "imagen" => "gr2.jpeg" "Alto" => 611 "Ancho" => 857 "Tamanyo" => 73536 ] ] "descripcion" => array:1 [ "en" => "<p id="sp0010" class="elsevierStyleSimplePara elsevierViewall">Test scenario.</p>" ] ] 2 => array:7 [ "identificador" => "f0015" "etiqueta" => "Figure 3" "tipo" => "MULTIMEDIAFIGURA" "mostrarFloat" => true "mostrarDisplay" => false "figura" => array:1 [ 0 => array:4 [ "imagen" => "gr3.jpeg" "Alto" => 643 "Ancho" => 815 "Tamanyo" => 58400 ] ] "descripcion" => array:1 [ "en" => "<p id="sp0015" class="elsevierStyleSimplePara elsevierViewall">Detection probability for TDE measurements.</p>" ] ] 3 => array:7 [ "identificador" => "f0020" "etiqueta" => "Figure 4" "tipo" => "MULTIMEDIAFIGURA" "mostrarFloat" => true "mostrarDisplay" => false "figura" => array:1 [ 0 => array:4 [ "imagen" => "gr4.jpeg" "Alto" => 657 "Ancho" => 860 "Tamanyo" => 78292 ] ] "descripcion" => array:1 [ "en" => "<p id="sp0020" class="elsevierStyleSimplePara elsevierViewall">CEP<span class="elsevierStyleInf">xy</span> comparison.</p>" ] ] 4 => array:7 [ "identificador" => "f0030" "etiqueta" => "Figure 5" "tipo" => "MULTIMEDIAFIGURA" "mostrarFloat" => true "mostrarDisplay" => false "figura" => array:1 [ 0 => array:4 [ "imagen" => "gr5.jpeg" "Alto" => 657 "Ancho" => 859 "Tamanyo" => 71896 ] ] "descripcion" => array:1 [ "en" => "<p id="sp0030" class="elsevierStyleSimplePara elsevierViewall">CEP<span class="elsevierStyleInf">xz</span> comparison.</p>" ] ] 5 => array:7 [ "identificador" => "f0025" "etiqueta" => "Figure A1" "tipo" => "MULTIMEDIAFIGURA" "mostrarFloat" => true "mostrarDisplay" => false "figura" => array:1 [ 0 => array:4 [ "imagen" => "gr6.jpeg" "Alto" => 624 "Ancho" => 929 "Tamanyo" => 76231 ] ] "descripcion" => array:1 [ "en" => "<p id="sp0025" class="elsevierStyleSimplePara elsevierViewall">Sub-array antenna with even array element number.</p>" ] ] 6 => array:7 [ "identificador" => "tbl0005" "etiqueta" => "Table 1" "tipo" => "MULTIMEDIATABLA" "mostrarFloat" => true "mostrarDisplay" => false "tabla" => array:1 [ "tablatextoimagen" => array:1 [ 0 => array:2 [ "tabla" => array:1 [ 0 => """ <table border="0" frame="\n \t\t\t\t\tvoid\n \t\t\t\t" class=""><thead title="thead"><tr title="table-row"><th class="td" title="table-head " align="" valign="top" scope="col" style="border-bottom: 2px solid black"> \t\t\t\t\t\t\n \t\t\t\t</th><th class="td" title="table-head " colspan="2" align="center" valign="top" scope="col" style="border-bottom: 2px solid black">CEP<span class="elsevierStyleInf">xy</span>(meter)</th><th class="td" title="table-head " colspan="2" align="center" valign="top" scope="col" style="border-bottom: 2px solid black">CEP<span class="elsevierStyleInf">xz</span>(meter)</th></tr><tr title="table-row"><th class="td" title="table-head " align="" valign="top" scope="col" style="border-bottom: 2px solid black"> \t\t\t\t\t\t\n \t\t\t\t</th><th class="td" title="table-head " align="center" valign="top" scope="col" style="border-bottom: 2px solid black">max \t\t\t\t\t\t\n \t\t\t\t</th><th class="td" title="table-head " align="center" valign="top" scope="col" style="border-bottom: 2px solid black">min \t\t\t\t\t\t\n \t\t\t\t</th><th class="td" title="table-head " align="center" valign="top" scope="col" style="border-bottom: 2px solid black">max \t\t\t\t\t\t\n \t\t\t\t</th><th class="td" title="table-head " align="center" valign="top" scope="col" style="border-bottom: 2px solid black">min \t\t\t\t\t\t\n \t\t\t\t</th></tr></thead><tbody title="tbody"><tr title="table-row"><td class="td" title="table-entry " align="center" valign="top">4-station TDOA \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="table-entry " align="center" valign="top">862.4 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="table-entry " align="center" valign="top">5.1 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="table-entry " align="center" valign="top">534.8 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="table-entry " align="center" valign="top">9.3 \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="table-entry " align="center" valign="top">Hybrid TDOA and DOA \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="table-entry " align="center" valign="top">3665.3 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="table-entry " align="center" valign="top">96.5 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="table-entry " align="center" valign="top">2356.4 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="table-entry " align="center" valign="top">118.8 \t\t\t\t\t\t\n \t\t\t\t</td></tr></tbody></table> """ ] "imagenFichero" => array:1 [ 0 => "xTab796224.png" ] ] ] ] "descripcion" => array:1 [ "en" => "<p id="spar0005" class="elsevierStyleSimplePara elsevierViewall">CEP comparison table.</p>" ] ] 7 => array:6 [ "identificador" => "eq0005" "etiqueta" => "(1)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "x1[n]=s[n]+w1[n],n∈[0,M]" "Fichero" => "si1.jpeg" "Tamanyo" => 1894 "Alto" => 15 "Ancho" => 227 ] ] 8 => array:6 [ "identificador" => "eq0010" "etiqueta" => "(2)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "xi[n]=s[n−Di1]+wi[n],n∈[0,M],i=2,3,4" "Fichero" => "si2.jpeg" "Tamanyo" => 2680 "Alto" => 15 "Ancho" => 349 ] ] 9 => array:6 [ "identificador" => "eq0015" "etiqueta" => "(3)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "Ri1(k)=X1(k)Xi*(k)=φs(k)ej2πDi1M+φw1wi(k)φc(k)" "Fichero" => "si3.jpeg" "Tamanyo" => 3184 "Alto" => 25 "Ancho" => 349 ] ] 10 => array:6 [ "identificador" => "eq0020" "etiqueta" => "(4)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "φs(k)=|S(k)|2" "Fichero" => "si4.jpeg" "Tamanyo" => 1135 "Alto" => 18 "Ancho" => 101 ] ] 11 => array:6 [ "identificador" => "eq0025" "etiqueta" => "(5)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "φw1wi(k)=W1(k)Wi*(k)" "Fichero" => "si5.jpeg" "Tamanyo" => 1520 "Alto" => 17 "Ancho" => 160 ] ] 12 => array:6 [ "identificador" => "eq0030" "etiqueta" => "(6)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "φc=W1(k)S*(k)ej2πDi1M+Wi*(k)S(k)" "Fichero" => "si6.jpeg" "Tamanyo" => 2317 "Alto" => 25 "Ancho" => 247 ] ] 13 => array:6 [ "identificador" => "eq0035" "etiqueta" => "(7)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "H(k)=Φs(k)[Φw1(k)+Φw2(k)]+[Φs(k)(Φw2(k)+Φw1(k))]" "Fichero" => "si7.jpeg" "Tamanyo" => 3032 "Alto" => 26 "Ancho" => 289 ] ] 14 => array:6 [ "identificador" => "eq0040" "etiqueta" => "(8)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "Φs(k)=E[φs(k)]=E[|S(k)|2]Φw1(k)=E[φw1(k)]=E[|W1(k)|2]Φw2(k)=E[φw2(k)]=E[|W2(k)|2]" "Fichero" => "si8.jpeg" "Tamanyo" => 6867 "Alto" => 69 "Ancho" => 234 ] ] 15 => array:6 [ "identificador" => "eq0045" "etiqueta" => "(9)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "y[Ii]=IFFT{Ri1(k)H(k)}" "Fichero" => "si9.jpeg" "Tamanyo" => 1675 "Alto" => 16 "Ancho" => 176 ] ] 16 => array:6 [ "identificador" => "eq0050" "etiqueta" => "(10)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "ri,1=(x−X1)2+(y−Y1)2+(z−Z1)2−(x−Xi)2+(y−Yi)2+(z−Zi)2fori=2,3,4" "Fichero" => "si10.jpeg" "Tamanyo" => 5980 "Alto" => 29 "Ancho" => 642 ] ] 17 => array:6 [ "identificador" => "eq0055" "etiqueta" => "(11)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "ri,1=cDi1Nfs=cτˆi,1=c(τˆi−τˆ1)=rˆi−rˆ1" "Fichero" => "si11.jpeg" "Tamanyo" => 2191 "Alto" => 24 "Ancho" => 271 ] ] 18 => array:6 [ "identificador" => "eq0060" "etiqueta" => "(12)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "τi,1=ri,1/c+εi1i=2,3,4" "Fichero" => "si12.jpeg" "Tamanyo" => 1561 "Alto" => 15 "Ancho" => 200 ] ] 19 => array:6 [ "identificador" => "eq0065" "etiqueta" => "(13)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "Aδ=z→−e→" "Fichero" => "si13.jpeg" "Tamanyo" => 760 "Alto" => 14 "Ancho" => 76 ] ] 20 => array:6 [ "identificador" => "eq0070" "etiqueta" => "(14)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "A=xv−X2cr2−xv−X1cr1yv−Y2cr2−yv−Y1cr1zv−Z2cr2−zv−Z1cr1xv−X3cr3−xv−X1cr1yv−Y3cr3−yv−Y1cr1zv−Z3cr3−zv−Z1cr1xv−X4cr4−xv−X1cr1yv−Y4cr4−yv−Y1cr1zv−Z4cr4−zv−Z1cr1" "Fichero" => "si14.jpeg" "Tamanyo" => 14432 "Alto" => 117 "Ancho" => 488 ] ] 21 => array:6 [ "identificador" => "eq0075" "etiqueta" => "(15)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "z→=τ2,1−r2,1(xv,yv,zv)cτ3,1−r3,1(xv,yv,zv)cτ4,1−r4,1(xv,yv,zv)c ,δ→=δxδyδz ,e→=ε21ε31ε41 " "Fichero" => "si15.jpeg" "Tamanyo" => 7765 "Alto" => 112 "Ancho" => 368 ] ] 22 => array:6 [ "identificador" => "eq0080" "etiqueta" => "(16)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "ri=(xv−Xi)2+(yv−Yi)2+(zv−Zi)2fori=1,2,3,4" "Fichero" => "si16.jpeg" "Tamanyo" => 3582 "Alto" => 29 "Ancho" => 425 ] ] 23 => array:6 [ "identificador" => "eq0085" "etiqueta" => "(17)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "R0=σ212000σ312000σ412" "Fichero" => "si19.jpeg" "Tamanyo" => 2555 "Alto" => 70 "Ancho" => 164 ] ] 24 => array:6 [ "identificador" => "eq0090" "etiqueta" => "(18)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "δ→=[ATR−1A]−1ATR−1z→" "Fichero" => "si21.jpeg" "Tamanyo" => 1791 "Alto" => 21 "Ancho" => 174 ] ] 25 => array:6 [ "identificador" => "eq0095" "etiqueta" => "(19)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "Q0=σx2ρxy2ρxz2ρxy2ρy2ρxz2ρxz2ρxz2σz2" "Fichero" => "si24.jpeg" "Tamanyo" => 3289 "Alto" => 72 "Ancho" => 164 ] ] 26 => array:6 [ "identificador" => "eq0100" "etiqueta" => "(20)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "CEPxy(z)≅(3/4)axy(z)2+bxy(z)2" "Fichero" => "si25.jpeg" "Tamanyo" => 2390 "Alto" => 29 "Ancho" => 217 ] ] 27 => array:6 [ "identificador" => "eq0105" "etiqueta" => "(21)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "axy(z)2=2{σx2σy(z)2−ρxy(z)2}{σx2+σy(z)2−[(σx2−σy(z)2)2+4ρxy(z)2]1/2}bxy(z)2=2{σx2σy(z)2−ρxy(z)2}{σx2+σy(z)2+[(σx2−σy(z)2)2+4ρxy(z)2]1/2}" "Fichero" => "si26.jpeg" "Tamanyo" => 10138 "Alto" => 119 "Ancho" => 358 ] ] 28 => array:6 [ "identificador" => "eq0110" "etiqueta" => "(22)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "A=xv−X2cr2−xv−X1cr1yv−Y2cr2−yv−Y1cr1zv−Z2cr2−zv−Z1cr1xv−X3cr3−xv−X1cr1yv−Y3cr3−yv−Y1cr1zv−Z3cr3−zv−Z1cr1−(yv−Y1)rxy2xv−X1rxy20−(xv−X1)(zv−Z1)rxyz2rxy−(yv−Y1)(zv−Z1)rxyz2rxyrxyrxyz2" "Fichero" => "si27.jpeg" "Tamanyo" => 16098 "Alto" => 168 "Ancho" => 508 ] ] 29 => array:6 [ "identificador" => "eq0115" "etiqueta" => "(23)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "z→=τ2,1−r2,1(xv,yv,zv)cτ3,1−r2,1(xv,yv,zv)cθe−tan−1(yv−Y1xv−X1)φe−tan−1(zv−Z1rxy),δ→=δxδyδz,e→=ε21ε31εθεφ" "Fichero" => "si28.jpeg" "Tamanyo" => 9777 "Alto" => 157 "Ancho" => 368 ] ] 30 => array:6 [ "identificador" => "eq0120" "etiqueta" => "(24)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "ri=(xv−Xi)2+(yv−Yi)2+(zv−Zi)2fori=1,2,3" "Fichero" => "si29.jpeg" "Tamanyo" => 3530 "Alto" => 29 "Ancho" => 408 ] ] 31 => array:6 [ "identificador" => "eq0125" "etiqueta" => "(25)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "rxyz=(xv−X1)2+(yv−Y1)2+(zv−Z1)2" "Fichero" => "si30.jpeg" "Tamanyo" => 2938 "Alto" => 29 "Ancho" => 311 ] ] 32 => array:6 [ "identificador" => "eq0130" "etiqueta" => "(26)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "rxy=(xv−X1)2+(yv−Y1)2" "Fichero" => "si31.jpeg" "Tamanyo" => 2101 "Alto" => 29 "Ancho" => 216 ] ] 33 => array:6 [ "identificador" => "eq0135" "etiqueta" => "(27)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "θe=θ+εθ" "Fichero" => "si32.jpeg" "Tamanyo" => 794 "Alto" => 13 "Ancho" => 77 ] ] 34 => array:6 [ "identificador" => "eq0140" "etiqueta" => "(28)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "φe=φ+εφ" "Fichero" => "si33.jpeg" "Tamanyo" => 795 "Alto" => 16 "Ancho" => 83 ] ] 35 => array:6 [ "identificador" => "eq0145" "etiqueta" => "(29)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "θ=tan−1(y−Y1x−X1)≈tan−1(yv−Y1xv−X1)−yv−Y1rxy2δx+xv−X1rxy2δy" "Fichero" => "si34.jpeg" "Tamanyo" => 3596 "Alto" => 28 "Ancho" => 369 ] ] 36 => array:6 [ "identificador" => "eq0150" "etiqueta" => "(30)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "φ=tan−1(z−Z1(x−Z1)2+(y−Y1)2)≈tan−1(zv−Z1rxy)−(xv−X1)(zv−Z1)rxyz2rxyδx−(yv−Y1)(zv−Z1)rxyz2rxyδy+rxyrxyz2δz" "Fichero" => "si35.jpeg" "Tamanyo" => 6364 "Alto" => 31 "Ancho" => 608 ] ] 37 => array:6 [ "identificador" => "eq0155" "etiqueta" => "(31)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "tdi_even=∑n=1idcsin2πM×N2−n,i=1,2,…,N2−1∑n=1N−i−1dcsin2πM×N2−n,i=N2,N2+1,…,N−10i=0,N−1" "Fichero" => "si38.jpeg" "Tamanyo" => 10610 "Alto" => 129 "Ancho" => 491 ] ] 38 => array:6 [ "identificador" => "eq0160" "etiqueta" => "(32)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "di_even=dcos2πM×N2−i,i=1,2,…,N2−1dcos2πM×i−N2,i=N2,N2+1,…,N−10,i=0" "Fichero" => "si39.jpeg" "Tamanyo" => 8480 "Alto" => 107 "Ancho" => 451 ] ] 39 => array:6 [ "identificador" => "eq0165" "etiqueta" => "(33)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "y=−2.9761904×10−5x2−2.940476x+10000z=13716" "Fichero" => "si40.jpeg" "Tamanyo" => 3441 "Alto" => 41 "Ancho" => 354 ] ] 40 => array:6 [ "identificador" => "eq0170" "etiqueta" => "(A1)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "θ0=π−(M−2)πM=2πM" "Fichero" => "si41.jpeg" "Tamanyo" => 1310 "Alto" => 22 "Ancho" => 152 ] ] 41 => array:6 [ "identificador" => "eq0175" "etiqueta" => "(A2)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "θ1=2π−(M−2)πM−π2−2πM−π2=2πM+2πM=4πM" "Fichero" => "si42.jpeg" "Tamanyo" => 4880 "Alto" => 116 "Ancho" => 297 ] ] 42 => array:6 [ "identificador" => "eq0180" "etiqueta" => "(A3)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "di_even=dcos(2πM×(i−N2)),i=N2,N2+1,...,N−1" "Fichero" => "si43.jpeg" "Tamanyo" => 3129 "Alto" => 21 "Ancho" => 379 ] ] 43 => array:6 [ "identificador" => "eq0185" "etiqueta" => "(A4)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "tdi_even=∑n=1N−i−1dcsin(2πM×(N2−n)),i=N2,N2+1,…,N−2" "Fichero" => "si44.jpeg" "Tamanyo" => 4152 "Alto" => 49 "Ancho" => 426 ] ] 44 => array:6 [ "identificador" => "eq0190" "etiqueta" => "(A5)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "di_even=dcos(2πM×(N2−i)),i=1,2,…,N2−1" "Fichero" => "si45.jpeg" "Tamanyo" => 2883 "Alto" => 21 "Ancho" => 348 ] ] 45 => array:6 [ "identificador" => "eq0195" "etiqueta" => "(A6)" "tipo" => "MULTIMEDIAFORMULA" "mostrarFloat" => false "mostrarDisplay" => true "Formula" => array:5 [ "Matematica" => "tdi_even=∑n=1idcsin(2πM×(N2−n)),i=1,2,…,N2−1" "Fichero" => "si46.jpeg" "Tamanyo" => 3516 "Alto" => 49 "Ancho" => 370 ] ] ] "bibliografia" => array:2 [ "titulo" => "References" "seccion" => array:1 [ 0 => array:2 [ "identificador" => "bibs0005" "bibliografiaReferencia" => array:9 [ 0 => array:3 [ "identificador" => "bib0005" "etiqueta" => "[1]" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "Smart Antennas for Wireless Communications: IS-95 and Third 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Tsai" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "Libro" => array:2 [ "titulo" => "John Wiley& Sons" "fecha" => "2007" ] ] ] ] ] ] 8 => array:3 [ "identificador" => "bib0045" "etiqueta" => "[9]" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "Design of Software Defined Radio Channel Simulator for Wireless Communications: Case Study with DSRC and UWB Channels" "autores" => array:1 [ 0 => array:2 [ "etal" => true "autores" => array:1 [ 0 => "J. Mar" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "Revista" => array:6 [ "tituloSerie" => "IEEE Trans. on Instrum. Meas" "fecha" => "2009" "volumen" => "58" "numero" => "8" "paginaInicial" => "2755" "paginaFinal" => "2766" ] ] ] ] ] ] ] ] ] ] ] "idiomaDefecto" => "en" "url" => "/16656423/0000001100000002/v2_201505081627/S166564231371527X/v2_201505081627/en/main.assets" "Apartado" => null "PDF" => "https://static.elsevier.es/multimedia/16656423/0000001100000002/v2_201505081627/S166564231371527X/v2_201505081627/en/main.pdf?idApp=UINPBA00004N&text.app=https://www.elsevier.es/" "EPUB" => "https://multimedia.elsevier.es/PublicationsMultimediaV1/item/epub/S166564231371527X?idApp=UINPBA00004N" ]
| Year/Month | Html | Total | |
|---|---|---|---|
| 2024 October | 18 | 3 | 21 |
| 2024 September | 19 | 4 | 23 |
| 2024 August | 18 | 5 | 23 |
| 2024 July | 16 | 3 | 19 |
| 2024 June | 13 | 2 | 15 |
| 2024 May | 12 | 5 | 17 |
| 2024 April | 17 | 3 | 20 |
| 2024 March | 21 | 9 | 30 |
| 2024 February | 16 | 2 | 18 |
| 2024 January | 18 | 2 | 20 |
| 2023 December | 7 | 3 | 10 |
| 2023 November | 8 | 9 | 17 |
| 2023 October | 16 | 13 | 29 |
| 2023 September | 9 | 4 | 13 |
| 2023 August | 10 | 2 | 12 |
| 2023 July | 8 | 3 | 11 |
| 2023 June | 5 | 0 | 5 |
| 2023 May | 18 | 8 | 26 |
| 2023 April | 22 | 3 | 25 |
| 2023 March | 37 | 3 | 40 |
| 2023 February | 17 | 11 | 28 |
| 2023 January | 6 | 3 | 9 |
| 2022 December | 15 | 8 | 23 |
| 2022 November | 28 | 6 | 34 |
| 2022 October | 20 | 13 | 33 |
| 2022 September | 15 | 5 | 20 |
| 2022 August | 19 | 5 | 24 |
| 2022 July | 14 | 9 | 23 |
| 2022 June | 7 | 8 | 15 |
| 2022 May | 11 | 9 | 20 |
| 2022 April | 11 | 10 | 21 |
| 2022 March | 6 | 6 | 12 |
| 2022 February | 8 | 3 | 11 |
| 2022 January | 16 | 7 | 23 |
| 2021 December | 9 | 12 | 21 |
| 2021 November | 8 | 7 | 15 |
| 2021 October | 26 | 22 | 48 |
| 2021 September | 12 | 7 | 19 |
| 2021 August | 7 | 17 | 24 |
| 2021 July | 10 | 6 | 16 |
| 2021 June | 10 | 8 | 18 |
| 2021 May | 14 | 4 | 18 |
| 2021 April | 25 | 3 | 28 |
| 2021 March | 8 | 8 | 16 |
| 2021 February | 8 | 6 | 14 |
| 2021 January | 10 | 9 | 19 |
| 2020 December | 6 | 5 | 11 |
| 2020 November | 6 | 5 | 11 |
| 2020 October | 4 | 4 | 8 |
| 2020 September | 8 | 8 | 16 |
| 2020 August | 17 | 9 | 26 |
| 2020 July | 6 | 8 | 14 |
| 2020 June | 9 | 9 | 18 |
| 2020 May | 11 | 2 | 13 |
| 2020 April | 9 | 1 | 10 |
| 2020 March | 5 | 6 | 11 |
| 2020 February | 5 | 2 | 7 |
| 2020 January | 9 | 4 | 13 |
| 2019 December | 3 | 6 | 9 |
| 2019 November | 5 | 3 | 8 |
| 2019 October | 10 | 1 | 11 |
| 2019 September | 9 | 1 | 10 |
| 2019 August | 7 | 3 | 10 |
| 2019 July | 7 | 11 | 18 |
| 2019 June | 19 | 12 | 31 |
| 2019 May | 50 | 42 | 92 |
| 2019 April | 28 | 18 | 46 |
| 2019 March | 7 | 4 | 11 |
| 2019 February | 2 | 2 | 4 |
| 2019 January | 7 | 2 | 9 |
| 2018 December | 2 | 1 | 3 |
| 2018 November | 5 | 7 | 12 |
| 2018 October | 12 | 6 | 18 |
| 2018 September | 2 | 6 | 8 |
| 2018 August | 4 | 4 | 8 |
| 2018 July | 4 | 1 | 5 |
| 2018 June | 5 | 3 | 8 |
| 2018 May | 10 | 10 | 20 |
| 2018 April | 14 | 4 | 18 |
| 2018 March | 9 | 0 | 9 |
| 2018 February | 6 | 2 | 8 |
| 2018 January | 10 | 2 | 12 |
| 2017 December | 3 | 0 | 3 |
| 2017 November | 9 | 2 | 11 |
| 2017 October | 12 | 7 | 19 |
| 2017 September | 9 | 9 | 18 |
| 2017 August | 9 | 6 | 15 |
| 2017 July | 9 | 1 | 10 |
| 2017 June | 15 | 15 | 30 |
| 2017 May | 15 | 14 | 29 |
| 2017 April | 9 | 12 | 21 |
| 2017 March | 15 | 28 | 43 |
| 2017 February | 30 | 5 | 35 |
| 2017 January | 14 | 0 | 14 |
| 2016 December | 10 | 2 | 12 |
| 2016 November | 22 | 1 | 23 |
| 2016 October | 17 | 3 | 20 |
| 2016 September | 34 | 7 | 41 |
| 2016 August | 10 | 3 | 13 |
| 2016 July | 8 | 2 | 10 |
| 2016 June | 6 | 3 | 9 |
| 2016 May | 8 | 8 | 16 |
| 2016 April | 6 | 3 | 9 |
| 2016 March | 7 | 4 | 11 |
| 2016 February | 6 | 3 | 9 |
| 2016 January | 8 | 0 | 8 |
| 2015 December | 3 | 6 | 9 |
| 2015 November | 6 | 0 | 6 |
| 2015 October | 8 | 5 | 13 |
| 2015 September | 9 | 3 | 12 |
| 2015 August | 2 | 2 | 4 |
| 2015 July | 6 | 1 | 7 |
| 2015 May | 1 | 1 | 2 |
| 2015 April | 2 | 1 | 3 |
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