Gird Systems Intro To Music Esprit

GIRD Systems Inc.
http://www.girdsystems.com
Engineering Research and Development
An Introduction to MUSIC and ESPRIT
GIRD Systems, Inc.
310 Terrace Ave.
Cincinnati, Ohio 45220
Based on
R. O. Schmidt, Multiple emitter location and signal parameter estimation,
IEEE Trans. Antennas & Propagation, vol. 34, no. 3, March 1986, and
R. Roy and T. Kailath, ESPRIT Estimation of signal parameters via rotation invariance
techniques, IEEE Trans. Acoust., Speech, Signal Proc., vol. 17, no. 7, July 1989
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Introduction
Well known high-resolution DOA algorithms
Able to find DOAs of multiple sources
High spatial resolution compared with other alg.
(I.e., a few antennas can result in high accuracy)
MUSIC stands for Multiple Signal Classifier
ESPRIT stands for Estimation of Signal
Parameters via Rotational Invariance Technique
Apply to only narrowband signal sources
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Narrowband Signal Sources
A complex sinusoid
( )
j j t j t
s t e e e
| e e
o = =
A real sinusoid is a sum of two sinusoids
1 2
cos( )
2 2
j j t j j t j t j t
t e e e e e e
| e | e e e
o o
o e |

+ = + = +
A delay of a sinusoid is a phase shift
0 0
0
( ) ( )
j t j t j t
s t t e e e s t
e e e

= =
Apply approximately to narrowband signals
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Narrowband Signal Sources
Consider I narrowband signal sources
1 2
1 1 2 2
( ) , ( ) , , ( )
I
j t j t j t
I I
s t e s t e s t e
e e e
= = =
Assume that all frequencies are different
Assume that all amplitudes are uncorrelated
2
;
{ }
0;
i
i j
i j
E
i j
o

=
=

=
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A Uniform Linear Array
1
( ) ( ) x t s t =
If the received signal at sensor 1 is
Then the received signal at sensor i is
( 1) sin
1
( ) ( ) ( ) ( )
i i
i d
j
j j
c
i
x t e s t e s t e s t
u
e
e e

A A
= = =
Then it is delayed at sensor i by
( 1) sin
i
i d
c
u
A =
u
A signal source
impinges on the array
with an angle
c: propagation speed
( )
j t
s t e
e
=
u
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Signal Model
Put received signals at all N sensors together:
is called a steering vector
sin
1
2
2 sin
3
( 1) sin
1
( )
( )
( ) ( ) ( ) ( ) ( )
( )
d
j
c
d
j
c
N d
N
j
c
x t
e
x t
t x t s t s t
e
x t
e
u
e
u
e
u
e
u
(
(
(
(
(
(
(
(
(
= = =
(
(
(
(
(
(

(
(

x a
( ) u a
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Signal Model
If there are I sources signals received by the array, we get
a signal model:
x(t) --- received signal vector ( N by 1 )
s(t) --- source signal vector ( I by 1 )
n(t) --- noise vector ( N by 1 )
( N by I )
1
( ) [ ( ), , ( )]
T
I
t s t s t = s
Sources are independent, noises are uncorrelated
Column of A can also be normalized
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The MUSIC Algorithm
Compute the N x N correlation matrix
s
R
2 2
1
{ ( ) ( )} .{ , , }
H
I
E t t diag o o = =
s
R s s
2
0
{ ( ) ( )}
H H
E t t o = = +
x s
R x x AR A I
where
If the sources are somewhat correlated so is not
diagonal, it will still work if has full rank.
If the sources are correlated such that is rank deficient,
then it is a problem. A common solution is spatial
smoothing.
Q: Why is the rank of (being I) so important?
A: It defines the dimension of the signal subspace.
s
R
s
R
s
R
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The MUSIC Algorithm
For N > I, the matrix is singular, i.e.,
H
s
AR A
2 2
0
[ ] ; 1, 2, ,
H
i i i i
i N o o = + = =
x s
R u AR A I u u
But this implies that is an eigenvalue of
Since the dimension of the null space of is N-
I, there are N-I such eigenvalues of
Since both and are non-negative definite,
there are I other eigenvalues such that
Let be the ith eigenvector of corresponding to
2 2
0
0
i
o o > >
2
0
o
2
0
o
2
i
o
2
0
det[ ] det[ ] 0
H
o = =
s x
AR A R I
x
R
H
s
AR A
H
s
AR A
x
R
i
u
x
R
2
i
o
x
R
2 2 2 2
0 0
0, 1, , ; , 1, ,
i i
i I i I N o o o o > > = = = +
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The MUSIC Algorithm
This implies
Partition the N-dimensional vector space into the
signal subspace and the noise subspace
s
U
n
U
2 2
0
[ ] ; 1, 2, ,
H
i i i i
i N o o = + = =
x s
R u AR A I u u
2 2
0
( ) ; 1, 2, ,
H
i i i
i N o o = =
s
AR A u u
2 2
0
( ) ; 1, 2, ,
0; 1, ,
H i i
i
i I
i I N
o o
=
=

= +
s
u
AR A u
| |
2 2
0
1 1
: 0 eigenvalues
: ( ) 0 eigenvalues
[ ]
i
I I N
o o
+
>
=
n
s
s n
U
U
U U u u u u
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The MUSIC Algorithm
The steering vector is in the signal subspace
Signal subspace is orthogonal to noise subspace
s
U
n
U
( )
i
u a
(1) means I linear combinations of columns of A
equal the signal subspace spanned by columns of
(2) means the linear combinations of columns of A,
i.e., the signal subspace, is orthogonal to
2 2
0
( ) ; 1, 2, , (1)
0; 1, , (2)
H i i
i
i I
i I N
o o
=
=

= +
s
u
AR A u
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The MUSIC Algorithm
The steering vector is in the signal subspace
Signal subspace is orthogonal to noise subspace
This implies that
So the MUSIC algorithm searches through all
angles , and plots the spatial spectrum
( )
H
i
u =
n
a U 0
( )
i
u a
u
1
( )
( )
H
P u
u
=
n
a U
Wherever exhibits a peak
Peak detection will give spatial angles of all
incident sources
, ( )
i
P u u u =
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The MUSIC Algorithm
MUSIC spatial spectrum compared with other methods
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Pros/Cons of The MUSIC Algorithm
Works for other array shapes, need to know sensor
positions
Very sensitive to sensor position, gain, and phase
errors, need careful calibration to make it work well
Searching through all could be computationally
expensive
The ESPRIT algorithm overcomes such
shortcomings to some degree
ESPRIT relaxes the calibration task somewhat
ESPRIT takes much less computation
But ESPRIT takes twice as many sensors
u
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The ESPRIT Algorithm
Based on doublets of sensors, i.e., in each pair of
sensors the two should be identical, and all doubles
should line up completely in the same direction with a
displacement vector having magnitude
Otherwise there are no restrictions, the sensor patterns
could be very different from one pair to another
The positions of the doublets are also arbitrary
This makes calibration a little easier
Assume N sets of doublets, i.e., 2N sensors
Assume I sources, N > I
A
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A sensor array of doublets
u
A
The amount of delay
between two sensors in
each doublet for a
given incident signal is
the same for all
doublets, which is
sin / c u A
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This array is consisted of two identical subarrays,
and , displaced from each other by
x
Z
y
Z

1
( ) ( ) ( ) ( ) ( ) ( )
I
i i
i
t s t t t t u
=
= + = +
x x
x a n As n
1
( ) ( ) ( ) ( ) ( ) ( )
i
I
j
i i
i
t e s t t t t
u
=
= + = +
x x
y a n As n
1 2
.{ , , , }
I
j j j
diag e e e

=
0
sin /
i i
c e u = A
The steering vector depends on the array
geometry, and should be known just like in MUSIC
( ) u a
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The objective is to estimate , thereby obtaining
Define
i
u
( )
( )
( ) ( ) ( ) ( )
( )
( )
t
t
t t t t
t
t
(
( (
= = + = +
(
( (

x
z
y
n
x A
z s As n
n
y A
Compute the 2N x 2N correlation matrix
2
0
{ ( ) ( )}
H H
E t t o = = +
z s
R z z AR A I
Since there are I sources, the I eigenvectors of
corresponding to the I largest eigenvalues form the
signal subspace ; The remaining 2N-I
eigenvectors form the noise subspace
z
R
s
U
n
U
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is 2N x I, and its span is the same as the span of
Therefore, there exists a unique nonsingular I x I
matrix such that (A needs to be known here)
A
Partition into two N x I submatrices
The columns of both and are linear
combinations of , so each of them has a column
rank I
s
U
T
=
s
U AT
s
U
(
(
= =
(
(

x
s
y
U
AT
U
U
AT
A
x
U
y
U
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Define an N x 2I matrix, which has rank I
Therefore, has a null space with dimension I,
i.e., there exists a 2I x I matrix F such that
Then the above gives, since T has full column rank
( =

xy x y
U U U
(
( = = + =
(

+ = =
x
xy x y x x y y
y
x y y x
F
U F 0 U U U F U F 0
F
ATF ATF 0 ATF ATF
xy
U
1 1
= = =
1 1 1
x y x y x y
AT ATF F A ATF F T TF F T
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The final algorithm is
In practice, the measurement could be noisy, and
there could be array calibration errors, so a total least
squares ESPRIT is used
The estimation is one shot, even with matrix
inversions the computation is much less than the
MUSIC search
We must have N > I for ESPRIT to work with 2N
sensors, so need twice as many sensors as MUSIC
1
=
1
x y
TF F T
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Simulation results of ESPRIT comparing with MUSIC
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Conclusions
Both methods are high-resolution, much better spatial
resolution than beamforming and other methods
Both methods are able to detect multiple sources
If sensors are expensive and few, and if computation
is not of concern, MUSIC is suitable
If there are plenty of sensors compared with the
number of sources to detect, and if computational
power is limited, ESPRIT is suitable
GIRD Systems Inc.
About GIRD Systems, Inc.
Founded in 2000 - based in Cincinnati
Specializes in communications and
signal processing, especially
developing novel algorithms to solve
challenging problems
As of Nov. 2009, won more than 13
Phase I awards and 6 Phase II awards
from Navy, Air Force, Army
Partnerships with many large
contractors including Northrop
Grumman, L-3 Communications, etc.
GIRD Systems Inc.
About GIRD Systems, Inc.
Key Technology Areas
Interference Mitigation (no reference, in-band)
Direction Finding (wideband, high-resolution)
Location/Navigation (Assisted GPS, GPS denied,
signals of opportunity)
Wireless Network Security (physical layer)
Power Amplifier Linearization
Novel Communications systems/modeling
Contact Information: GIRD Systems, Inc. Phone: (513) 281-2900
310 Terrace Ave. Fax: (513) 281-3494
Cincinnati, OH 45220 E-mail: info@girdsystems.com
USA Web: www.girdsystems.com

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