A Design Method For MIMO Radar Frequency Hopping Codes: Chun-Yang Chen and P. P. Vaidyanathan

A Design Method for MIMO Radar
Frequency Hopping Codes

Chun-Yang Chen and P. P. Vaidyanathan
California Institute of Technology
Electrical Engineering/DSP Lab

Asilomar Conference 2007
0
0.5
1
0
0.5
1
0
2
4
6
Outline
Review of the background
Ambiguity function
Ambiguity function in MIMO radar

The proposed waveform design method
Ambiguity function for MIMO pulse radar
Frequency hopping signals
Optimization of the frequency hopping codes
Examples

Conclusion and future work
2 Chun-Yang Chen, Caltech DSP Lab | Asilomar Conference 2007
Review: Ambiguity function in MIMO radar
3
Ambiguity Function in SIMO Radar
Ambiguity function characterizes the Doppler and range
resolution.
resolution.
u(t)
(t,v)
target
TX
t:delay
v:Doppler
resolution.
u(t)
y
(t,v)
(t)
(t,v)
target
TX RX
t:delay
v:Doppler
dt t y t y
}
-
) ( ) (
) ' , ' ( ) , ( v t v t
resolution.
u(t)
y
(t,v)
(t)
(t,v)
target
TX RX
t:delay
v:Doppler
Matched filter output
dt t y t y
}
-
) ( ) (
) ' , ' ( ) , ( v t v t
resolution.
u(t)
y
(t,v)
(t)
(t,v)
target
TX RX
t:delay
v:Doppler
dt e t u e t u
t j t j
}
-
=
' 2 2
) ' ( ) (
tv tv
t t
dt e t u t u
t j
}
-
+ =
) ' ( 2
)) ' ( ( ) (
v v t
t t
dt t y t y
}
-
) ( ) (
) ' , ' ( ) , ( v t v t
resolution.
u(t)
y
(t,v)
(t)
(t,v)
target
TX RX
t:delay
v:Doppler
dt e t u t u
t j
}
-
+ =
tv
t v t _
2
) ( ) ( ) , (
dt e t u e t u
t j t j
}
-
=
' 2 2
) ' ( ) (
tv tv
t t
dt e t u t u
t j
}
-
+ =
) ' ( 2
)) ' ( ( ) (
v v t
t t
Ambiguity function
resolution.
target 2 (t
2
,v
2
)
target 1 (t
1
,v
1
)

resolution.
target 2 (t
2
,v
2
)
target 1 (t
1
,v
1
)

) , (
1 1
v v t t _
-1
-0.5
0
0.5
1
-1
-0.5
0
0.5
1
0
0.2
0.4
0.6
0.8
1
resolution.
target 2 (t
2
,v
2
)
target 1 (t
1
,v
1
)

) , (
1 1
v v t t _
dt e t u t u
t j
}
-
+ =
tv
t v t _
2
) ( ) ( ) , (
Ambiguity function
-1
-0.5
0
0.5
1
-1
-0.5
0
0.5
1
0
0.2
0.4
0.6
0.8
1
resolution.
target 2 (t
2
,v
2
)
target 1 (t
1
,v
1
)

) , (
1 1
v v t t _
dt e t u t u
t j
}
-
+ =
tv
t v t _
2
) ( ) ( ) , (
Ambiguity function
MIMO Radar
u
0
(t)
x
T0

u
1
(t)
x
T1

u
M-1
(t)
x
T,M-1

Transmitter emits
incoherent waveforms.
Transmitter: M antenna elements
MIMO Radar
u
0
(t)
x
T0

u
1
(t)
x
T1

u
M-1
(t)
x
T,M-1

x
R0
x
R1
x
R,M-1

MF

MF

MF

Transmitter emits
incoherent waveforms.
Matched filters extract
the M orthogonal waveforms.
Overall number of signals:
NM
Receiver: N antenna elements Transmitter: M antenna elements
Ambiguity Function in MIMO Radar
u
0
(t)
x
T0

u
1
(t)
x
T1

u
M-1
(t)
x
T,M-1

(t,v,f)
TX
t:delay
v:Doppler
f: Spatial freq.
x
T0
x
T1
x
T,M-1

x
R0
x
R1
x
R,M-1

MF

MF

MF

(t,v,f)
(t,v,f)
TX RX
t:delay
v:Doppler
f: Spatial freq.
u
0
(t) u
1
(t) u
M-1
(t)
) (
) , , (
t
f v t
y
x
T0
x
T1
x
T,M-1

x
R0
x
R1
x
R,M-1

MF

MF

MF

(t,v,f)
(t,v,f)
TX RX
t:delay
v:Doppler
f: Spatial freq.
u
0
(t) u
1
(t) u
M-1
(t)
) (
) , , (
t
f v t
y
x
T0
x
T1
x
T,M-1

x
R0
x
R1
x
R,M-1

MF

MF

MF

(t,v,f)
(t,v,f)
( )
}
dt t t
f
H
f
) ( ) (
) , , ( ) ' , ' , ' ( v t v t
y y
TX RX
t:delay
v:Doppler
f: Spatial freq.
u
0
(t) u
1
(t) u
M-1
(t)
( )
=
1
0
1
0 '
) ' ( 2 ) ' ( 2 *
1
0
) ' ( 2
'
) ' ( ) (
M
m
M
m
x f fx j t v j
m m
N
n
n f f j
m m
e dt e t u t u e
t v t t
t t
Receiver beamforming
( )
}
dt t t
f
H
f
) ( ) (
) , , ( ) ' , ' , ' ( v t v t
y y
t:delay
v:Doppler
f: Spatial freq.
u
m
(t): m-th waveform
x
m
: m-th antenna location
n: receiving antenna index
( )
=
1
0
1
0 '
) ' ( 2 ) ' ( 2 *
1
0
) ' ( 2
'
) ' ( ) (
M
m
M
m
x f fx j t v j
m m
N
n
n f f j
m m
e dt e t u t u e
t v t t
t t
( )
}
dt t t
f
H
f
) ( ) (
) , , ( ) ' , ' , ' ( v t v t
y y
t:delay
v:Doppler
f: Spatial freq.
u
m
(t): m-th waveform
x
m
Cross ambiguity function
* 2
, ' '
( , ) ( ) ( )
j t
m m m m
u t u t e dt
tv
_ t v t = +
}
=
1
0
1
0 '
) ' ( 2
' ,
'
) , ( ) ' , , , (
M
m
M
m
x f fx j
m m
m m
e f f
t
v t _ v t _
( )
=
1
0
1
0 '
) ' ( 2 ) ' ( 2 *
1
0
) ' ( 2
'
) ' ( ) (
M
m
M
m
x f fx j t v j
m m
N
n
n f f j
m m
e dt e t u t u e
t v t t
t t
( )
}
dt t t
f
H
f
) ( ) (
) , , ( ) ' , ' , ' ( v t v t
y y
* 2
, ' '
( , ) ( ) ( )
j t
m m m m
u t u t e dt
tv
_ t v t = +
} [San Antonio et al. 07]
t:delay
v:Doppler
f: Spatial freq.
u
m
(t): m-th waveform
x
m
MIMO ambiguity function
target 2 (t
2
,v
2,
f
2
)
target 1 (t
1
,v
1
,f
1
)

f
Ambiguity function characterizes the Doppler, range, and
angular resolution.
=
1
0
1
0 '
) ' ( 2
' ,
'
) , ( ) ' , , , (
M
m
M
m
x f fx j
m m
m m
e f f
t
v t _ v t _
target 2 (t
2
,v
2,
f
2
)
target 1 (t
1
,v
1
,f
1
)

) , , , (
1 1 1
f f v v t t _
Ambiguity
function
f
}
+ = dt e t u t u
t j
m m m m
tv
t v t _
2 *
' ,
) ( ) ( ) , (
Ambiguity function characterizes the Doppler, range, and
angular resolution.
Proposed Waveform Design Method
25
MIMO Radar Waveform Design Problem
Choose a set of waveforms {u
m
(t)} so that the ambiguity
function _(t,v,f,f) can be sharp around {(0,0,f,f)}.
target 1 (t
1
,v
1
,f
1
)

) , , , (
1 1 1
f f v v t t _
f
MIMO Radar Waveform Design Problem
Choose a set of waveforms {u
m
(t)} so that the ambiguity
function _(t,v,f,f) can be sharp around {(0,0,f,f)}.
target 1 (t
1
,v
1
,f
1
)

) , , , (
1 1 1
f f v v t t _
f
Ambiguity
function
}
+ = dt e t u t u
t j
m m m m
tv
t v t _
2 *
' ,
) ( ) ( ) , (
=
1
0
1
0 '
) ' ( 2
' ,
'
) , ( ) ' , , , (
M
m
M
m
x f fx j
m m
m m
e f f
t
v t _ v t _
Imposing Waveform Structures
Pulse radar
MTI (Moving Target Indicator)
Doppler pulse radar

) ( ) (
1
0
=
=
L
l
l m m
T t t u | m-th waveform
Pulse radar
Doppler pulse radar

Frequency hopping
signals
Constant modulus
Can be viewed as
generalized LFM (Linear
Frequency Modulation)

) ( ) (
1
0
=
=
L
l
l m m
T t t u |
=
A A =
1
0
) , 0 [
) ( 1 ) 2 exp( ) (
Q
q
t mq m
t q t t fc j t t |
m-th waveform
Pulse radar
Doppler pulse radar

Frequency hopping
signals
Constant modulus
Can be viewed as
generalized LFM (Linear
Frequency Modulation)

Orthogonal waveforms
Virtual array
) ( ) (
1
0
=
=
L
l
l m m
T t t u |
=
A A =
1
0
) , 0 [
) ( 1 ) 2 exp( ) (
Q
q
t mq m
t q t t fc j t t |
= A A
= =
1
' ,
'
t f
m m q c c
q m mq
m-th waveform
Ambiguity Function of Pulse MIMO Radar
T
|
) ( ) (
1
0
=
=
L
l
l m m
T t t u |
0 ~
|
vT
l l
T T T <<
+1 |
T
|
) ( ) (
1
0
=
=
L
l
l m m
T t t u |
0 ~
|
vT
l l
T T T <<
+1 |
}
}
+ ~
+ =
dt t t
dt e t t
m m
t j
m m
m m
1 ) ( ) (
) ( ) ( ) , (
*
2 *
' ,
) (
t | |
t | | v t _
tv |
) (
) (
' ,
t
|
m m
r =
|
.
|
\
|
|
.
|
\
|
=

=
1
0
2
1
0
1
0 '
) ' ( 2 ) (
'
' ,
) ( ) ' , , , (
L
l
T j
M
m
M
m
x f fx j
l m m
m m
e e r f f
tv t |
t v t _
T
|
) ( ) (
1
0
=
=
L
l
l m m
T t t u |
0 ~
|
vT
l l
T T T <<
+1 |
}
}
+ ~
+ =
dt t t
dt e t t
m m
t j
m m
m m
1 ) ( ) (
) ( ) ( ) , (
*
2 *
' ,
) (
t | |
t | | v t _
tv |
) (
) (
' ,
t
|
m m
r =
Doppler processing
is separable
) ' , , ( f f t O
|
.
|
\
|
|
.
|
\
|
=

=
1
0
2
1
0
1
0 '
) ' ( 2 ) (
'
' ,
) ( ) ' , , , (
L
l
T j
M
m
M
m
x f fx j
l m m
m m
e e r f f
tv t |
t v t _
T
|
) ( ) (
1
0
=
=
L
l
l m m
T t t u |
0 ~
|
vT
l l
T T T <<
+1 |
}
}
+ ~
+ =
dt t t
dt e t t
m m
t j
m m
m m
1 ) ( ) (
) ( ) ( ) , (
*
2 *
' ,
) (
t | |
t | | v t _
tv |
) (
) (
' ,
t
|
m m
r =
Define as
Doppler processing
is separable
}
+ = dt t t r
m m m m
) ( ) ( ) (
* ) (
' ,
t | | t
|
Waveform Design Problem in Pulse
MIMO Radar
= O
1
0
1
0 '
) ' ( 2 ) (
'
' ,
) ( ) ' , , (
M
m
M
m
x f fx j
m m
m m
e r f f
t |
t t
MIMO Radar
= O
1
0
1
0 '
) ' ( 2 ) (
'
' ,
) ( ) ' , , (
M
m
M
m
x f fx j
m m
m m
e r f f
t |
t t
}
+ = dt t t r
m m m m
) ( ) ( ) (
* ) (
' ,
t | | t
|
Choose a set of pulses {|
m
(t)} such that O(t,f,f) can be
sharp around {(0,f,f)}.

MIMO Radar
= O
1
0
1
0 '
) ' ( 2 ) (
'
' ,
) ( ) ' , , (
M
m
M
m
x f fx j
m m
m m
e r f f
t |
t t
}
+ = dt t t r
m m m m
) ( ) ( ) (
* ) (
' ,
t | | t
|
) ( ) ' , , (
) (
0 , 0
t t
|
r f f = O
m

Ex: SIMO case: M=1
MIMO Radar
= O
1
0
1
0 '
) ' ( 2 ) (
'
' ,
) ( ) ' , , (
M
m
M
m
x f fx j
m m
m m
e r f f
t |
t t
}
+ = dt t t r
m m m m
) ( ) ( ) (
* ) (
' ,
t | | t
|
) ( ) ' , , (
) (
0 , 0
t t
|
r f f = O
Choose a pulse with a sharp correlation function (e.g. LFM)
m

Ex: SIMO case: M=1
Orthogonality of the Frequency Hopping
Signals
1
[0, )
0
( ) exp( 2 ) 1 ( )
Q
m mq t
q
t j fc t t q t | t
=
= A A
= A A
= =
1
' ,
'
t f
m m q c c
q m mq
m
m'
Frequency
Time
f A
t A
Signals
= A A
= =
1
' ,
'
t f
m m q c c
q m mq
m
m'
}
=
' ,
*
) ( ) (
m m m m
dt t t o | |
1
[0, )
0
( ) exp( 2 ) 1 ( )
Q
m mq t
q
t j fc t t q t | t
=
= A A
M e r f f
M
m
M
m
x x f j
m m
m m
= = O

1
0
1
0 '
) ( 2 ) (
'
' ,
) 0 ( ) , , 0 (
t |
Signals
= A A
= =
1
' ,
'
t f
m m q c c
q m mq
m
m'
}
=
' ,
*
) ( ) (
m m m m
dt t t o | |
1
[0, )
0
( ) exp( 2 ) 1 ( )
Q
m mq t
q
t j fc t t q t | t
=
= A A

Signals
= A A
= =
1
' ,
'
t f
m m q c c
q m mq
m
m'
}
=
' ,
*
) ( ) (
m m m m
dt t t o | |
M e r f f
M
m
M
m
x x f j
m m
m m
= = O

1
0
1
0 '
) ( 2 ) (
'
' ,
) 0 ( ) , , 0 (
t |
O is a constant along {(0,f,f)}, no matter what codes
are chosen.
1
[0, )
0
( ) exp( 2 ) 1 ( )
Q
m mq t
q
t j fc t t q t | t
=
= A A
Define a vector

Optimization of the Codes
{ } ) , , ( vec
' f f
n n n
t C C
O =
' C C

w
Code C is better than

code C.
Define a vector

Def: a code C is efficient if there exists no other code C
such that

{ } ) , , ( vec
' f f
n n n
t C C
O =
' C C

w
Code C is better than code C.

C C

w
'
Define a vector

such that

For any where g
i
are increasing convex
functions

{ } ) , , ( vec
' f f
n n n
t C C
O =
' C C

w

C C

w
'
) ( ) (
' ' C C C C
f f
w
<
=
i
i
g f
Define a vector

such that

For any where g
i
functions

So a code C is efficient if
{ } ) , , ( vec
' f f
n n n
t C C
O =
' C C

w

C C

w
'
) ( ) (
' ' C C C C
f f
w
<
) ( ) (
' C C
f f <
for all C.
=
i
i
g f
Define a vector

such that

For any where g
i
functions

So a code C is efficient if for all C.
Example:
{ } ) , , ( vec
' f f
n n n
t C C
O =
' C C

w

C C

w
'
) ( ) (
' ' C C C C
f f
w
<
) ( ) (
' C C
f f <
=
i
i
g f
p
p
f
c c
= ) (
} } }
O
1
0
1
0
' ) ' , , ( min df df d f f
p
t t
C
= =
e
' ,
} 1 , 1 , 0 {
'
m m q c c
K
q m mq
MQ
C
M:# of waveforms
Q: # of freq. hops
K: # of freq.
Time-bandwidth product:
KAfQAt
=
A =
1
0
) , 0 [
) ( 1 ) 2 exp( ) (
Q
q
t mq m
t q t t c j t t |
Simulated Annealing Algorithm
Simulated annealing
Create a Markov chain on the set A

) ( min C
C
p
f
A e C subject to

C
C

[S. Kirkpatrick et al. 85]
Simulated annealing
Create a Markov chain on the set A with the equilibrium distribution

) ( min C
C
p
f
A e C subject to
A e
|
|
.
|
\
|
=
|
|
.
|
\
|
=
C
C
C
C
T
f
Z
T
f
Z
p
T
p
T
T
) (
exp
) (
exp
1
) ( t

C
C

Simulated annealing

Run the Markov chain Monte Carlo (MCMC)

) ( min C
C
p
f
A e C subject to
A e
|
|
.
|
\
|
=
|
|
.
|
\
|
=
C
C
C
C
T
f
Z
T
f
Z
p
T
p
T
T
) (
exp
) (
exp
1
) ( t

C
C

Simulated annealing

Run the Markov chain Monte Carlo (MCMC)
Decrease the temperature T from time to time

A e
|
|
.
|
\
|
=
|
|
.
|
\
|
=
C
C
C
C
T
f
Z
T
f
Z
p
T
p
T
T
) (
exp
) (
exp
1
) ( t
) ( min C
C
p
f
A e C subject to

C
C

Examples
Parameters:
Uniform linear array
# of waveforms M =4
# of hops Q=10
# of freq. K=15
norm type p=3
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1
0
1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1
0
1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1
0
1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1
0
1
Proposed Freq. Hopping Signals
Examples
Parameters:
Uniform linear array
# of waveforms M =4
# of hops Q=10
# of freq. K=15
norm type p=3
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1
0
1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1
0
1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1
0
1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1
0
1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1
0
1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1
0
1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1
0
1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1
0
1
Orthogonal LFM Proposed Freq. Hopping Signals
Parameters:
The same array
The same duration and
bandwidth
Initial frequencies

Examples Ambiguity Function
|O(t,f,f)|
Orthogonal LFM Proposed Freq. Hopping Signal
Examples Ambiguity Function
10log10|O(t,f,f)|
0 2 4 6 8 10
-15
-10
-5
0

Sorted samples (%)
Examples Sorted Samples of Ambiguity
Functions
10log10(|O(t,f,f)|)
LFM
Randomly selected code
Proposed method
0 20 40 60 80 100
-20
-15
-10
-5
0

Sorted samples (%)
10log10(|O(t,f,f)|)
Examples Correlation Function Matrix
}
+ = dt t t r
m m m m
) ( ) ( ) (
* ) (
' ,
t | | t
|
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
0 0.5 1
-1
0
1
Conclusion
MIMO radar frequency hopping waveform design
method
Sharper ambiguity function (Better resolution)
Applicable in the case of
pulse radar
orthogonal waveforms

Future work
Other optimization tools
Phase coded signals

Q&A
Thank You!
Any questions?

A Design Method For MIMO Radar Frequency Hopping Codes: Chun-Yang Chen and P. P. Vaidyanathan

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A Design Method for MIMO Radar

Frequency Hopping Codes

Orthogonality of the Frequency Hopping

Code C is better than

Code C is better than code C.

Code C is better than code C.

Code C is better than code C.

Code C is better than code C.

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