International Journal of Advanced Robotic Systems

A Fast and High-Resolution Multi-Target

Localization Approach in MIMO Radar

Regular Paper



Yu Zhang
1
, Hong Jiang
1,*
, Ying-Chun Wei
1
and Hai-Jing Cui
1


1 College of Communication Engineering, Jilin University, Changchun, P.R.China
* Corresponding author E-mail: jiangh@jlu.edu.cn

Received 31 Aug 2012; Accepted 16 May 2013

DOI: 10.5772/56651

2013 Zhang et al.; licensee InTech. This is an open access article distributed under the terms of the Creative
Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use,
distribution, and reproduction in any medium, provided the original work is properly cited.


Abstract This paper presents a fast and highresolution
estimation approach using polarization information
combined with angle information for multitarget
localization in bistatic multipleinput multipleoutput
(MIMO) radar. The propagator method (PM) is extended
to jointly estimate the direction of departure (DOD), the
directionofarrival(DOA)andthepolarizationparameters.
ThePMavoidsthesingularvaluedecomposition(SVD)of
the covariance matrix of the received signals so that the
computational complexity is reduced. In addition, the
closely spaced targets can be well distinguished by
polarization diversity. The CramerRao bounds (CRBs) of
the estimated parameters are derived. The position of a
target is calculated based on the estimated angles. The
simulationresultsdemonstratethattheproposedapproach
canachievebetterperformancecomparedwithconventional
methodsoftargetlocalization.

KeywordsMIMORadar,TargetLocalization,Polarization
Diversity,PropagatorMethod,CramerRaoBound

1.Introduction

Multipleinput multipleoutput (MIMO) radar [1] andits

applications in localization and directionfinding [2][3]
have recently been the focus of intensive research.
Specifically,manytargetlocalizationmethodsforbistatic
MIMO radar have been investigated to estimate both
direction of departure (DOD) and direction of arrival
(DOA) [4][13]. However, when multiple targets are
closelyspacedandcannotbewelldistinguishedfromthe
spatial domain, the resolution of these algorithms is
greatly degraded. In recent years, polarimetric radar has
reflectedthetremendousadvantagesintargetestimation,
detection and tracking [14]. Considering that target
echoes at different locations have different states of
polarization, an ESPRITbased DODDOApolarization
estimationmethodwasproposedbyusin[15]forbistatic
MIMO radar, in which polarization information can be
madefulluseoftoimprovethetargetresolution.
Inarraysignalprocessing,thepropagatormethod(PM)[16]
is a fast DOA estimation approach, which can avoid
singular value decomposition (SVD) of the covariance
matrix. However, spectral peak searching through all the
twodimensional (2D) space is the main computational
burden if the parameters of both DOD and DOA need to
be obtained. In [11], a fast multitarget localization
algorithm was proposed using PMbased DOD and DOA
estimation. In this paper, a novel fast and highresolution
estimation approach is presented using polarization
1 Yu Zhang, Hong Jiang, Ying-Chun Wei and Hai-Jing Cui:
A Fast and High-Resolution Multi-Target Localization Approach in MIMO Radar
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ARTICLE
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Int. j. adv. robot. syst., 2013, Vol. 10, 322:2013

information combined with angle information for

multitarget localization. A traditional PM algorithm is
extendedhereintojointlyestimatetheDOD,theDOAand
the polarization parameters, which can avoid the
calculationoftheSVDofthecovariancematrix,aswellas
peaksearching.Therefore,thecomputationalcomplexityis
further reduced and fast multitarget localization can be
implemented. Also, by using polarization diversity, the
closely spaced targets can be well distinguished with a
high resolution. To evaluate the performance of the
proposed approach, the CramerRao bounds (CRBs) of
the estimated parameters are derived. The position of a
targetiscalculatedbasedontheestimatedangles.

The paper is organized as follows. In the next section, the

signalmodelofbistaticMIMOradarbasedonpolarization
sensitivereceiverarrayisdescribed.InSection3,afastand
highresolution multitarget localization approach is
presented. In Section 4, the CRBs of the estimated
parametersarederived.Thesimulationresultsaregivenin
Section5.Finally,aconclusionisdrawninSection6.

2.PolarizationSensitiveArraybased
BistaticMIMORadarSignalModel

AsdescribedinFig.1,weconsiderabistaticMIMOradar
systemhavingauniformlineartransmitterarraywithM
elements and a polarizationsensitive receiver array with
N pairs of crossed dipoles to measure the polarization
information of targets.
t
d and
r
d are the interelement
spacing at the transmitter and receiver, respectively,
which are no more than half a wavelength. The targets
range is assumed to be much larger than the aperture of
the transmitter and receiver arrays. M elements of the
transmitter simultaneously transmit waveforms, which
are orthogonal, to each other. These signals are reflected
by P targets with different Doppler frequencies and
complex amplitudes. For the pth target, 1, 2, , p P = ,
its angles, say, DOD and DOA, are denoted by
p
u and
p
|
and its polarization information is parameterized by two
polarizationphasefactors
p
and
p
q ,respectively.

Figure1.DiagramofabistaticMIMOradarhavingauniformlinear
transmitter array with M elements and a polarizationsensitive
receiverarraywithNpairsofcrosseddipoles.
In the lth snapshot, upon thereflections byP targets,the
signal matrix
( ) 2 l N K
e X received by the 2Nelement
polarizationsensitivearrayisdeterminedby[15]

1
j2 ( ) ( )
1
( , , ) ( ) e
dp l
P
f t l T l
r p p p p t p
p
M
| q | u
=
(
(
= +
(
(

s
X a a W
s
(1)

1, 2, , l L = , where
1 K
m

e s for 1, 2, m M =
denotes a normalized transmitted baseband coded signal
vector for the mth element, having a length of K and
H
1
m m
= s s , and
l
t is slow time with the index l . Here
dp
f and
p
| denote the Doppler frequency and amplitude
of the pth target, respectively.
p
| is proportional to the
radarcrosssections(RCSs)ofthepthtarget.
( ) l
W denotes
the noise matrix, which is complex, white Gaussian
distributedwithavarianceof
2
w
o and
( )
1 M
t p
u

e a is
thepthsteeringvectorofthetransmitterarray,givenby

( )
( ) ( )( )
T
j2 sin j2 1 sin
1, e ,... ,e
t p t p
d M d
t p
u u
u

(
=

a (2)

2 1
( , , )
N
r p p p
| q

e a denotesthepthmanifoldvectorsof
thereceiverarray,whichcanbewrittenas

( , , )
r p p p p p
| q = a q v (3)

where denotes the Kronecker product.

1 N
p

e q is
thepthsteeringvectorofthearrivalsignal

( ) ( )( )
T
j2 sin j2 1 sin
1, e ,..., e
y p y p
d N d
p
| |
(
=
(

q (4)

and
2 1
p

e v isthepthpolarizationvectorofthearrival
signal

j
cos
sin cos e
p
p
p
p p
q

|
(
= (
(

v
(5)

for 0 2
p
t s s ,
p
q s < . We assume that there are
Mmatchedfiltersatthereceiver.Afterbeingmatchedwith
transmitted waveforms, the output of the mth matched
filter is
( ) ( ) H l l
m m
= y X s . Thus, the output of M matched
filterscanbecomposedasavector,i.e.,

( )
( ) ( ) ( )
1 1 1
( ) ( ) ( )
( , , ) ( )
( , , ) ( )
l l l
r t
l
l l l
M r tM M
| q u
| q u
( ( (
( ( (
= = +
( ( (
( ( (


A b y v
y
y A b v
(6)

where
1 1 1
( , , ) [ ( , , ),..., ( , , )]
r r r P P P
| q | q | q = A a a is the
manifold matrix of the receiver array.
2 Int. j. adv. robot. syst., 2013, Vol. 10, 322:2013 www.intechopen.com

( )( ) ( )( )
1
j2 1 sin j2 1 sin
( ) diag e ,...,e
t p t
m d m d
tm
u u
u

(
=

isadiagonal
matrixcomposedofthephaseshiftsofPtargetsatthemth
element of transmitter array.
1
T
j2 j2 ( )
1
e ,..., e
d l dP l
f t f t l
P
| | ( =

b
denotes the target signal vector.
( ) ( ) H
(1 )
l l
m m
K = v W s
denotesthenoisematrixaftermatchedfilterswiththemth
transmittedwaveforms.(6)canbefurtherdenotedas

( ) ( ) ( )
( , , , )
l l l
u | q = + y A b v (7)

where
2
( , , , )
MN P
u | q

e A denotes the total manifold
matrix withrespecttothetransmitterand receiverarrays,
| |
1 1 1 1 1
( , , , ) ( , , , ), , ( , , , )
P P P P P
u | q u | q u | q = A a a , where
( , , , ) ( ) ( , , )
p p p p p t p r p p p
u | q u | q = a a a . We form a matrix
2MN L
e Y bycomposing(7)inLsnapshots

( , , , ) u | q = + Y A B V (8)

where
T
(1) ( )
,...,
L
( =

Y y y ,
T
(1) ( )
,...,
L
( =

B b b and
T
(1) ( )
,...,
L
( =

V v v .Thus,basedonthesignalmodelin(8),
our goal is to estimate multiple parameters of targets,
including DOD parameter
p
u , DOA parameter
p
| and
polarizationparameters ,
p p
q .

3. FastandHighResolutionMultiTarget
LocalizationApproach

In this section, a fast and highresolution multiple target

localization approach is described in detail. The total
structureoftheproposedschemeisshowninFig.2.

Figure2.Thetotalstructureoftheproposedscheme.
3.1DOA/DOA/PolarizationEstimation

Theapproachemploysthepropagatormethod.However,
we extend it by exploiting the characteristics of signal
subspace of different matrix blocks and the polarization
array processing technology. The DOD, DOA and two
polarizationparametersareestimatedstepbystepbased
onmatrixY .

First, in order to estimate the DOD parameters, let

t1
Y
and
2 t
Y be the 2 ( 1) N M L submatrices of Y ,
consisting of the first and last 2 ( 1) N M rows of Y ,
i.e., ( )
1 1 1
, , ,
t t t
u | q = + Y A B V and ( )
2 2 2
, , ,
t t t
u | q = + Y A B V ,
where ( )
1
, , ,
t
u | q A and ( )
2
, , ,
t
u | q A are the first and
last 2 ( 1) N M rows of ( , , , ) u | q A , respectively.
Then we have
( ) ( )
2 1
, , , , , ,
t t t
u | q u | q = A A , where
( )( ) ( )( )
{ }
1
j2 1 sin j2 1 sin
diag e ,...,e
t t P
m d m d
t
| |
= . Therefore,
the estimationof DOD can be derived from the diagonal
matrix
t
. We compose the data for
1 t
Y and
2 t
Y as
follows.

11
1 1 1 12 1
2 1 2 11 2
12
t
t t t t t
t t t
t t t t t t t
t t
(
(
( ( ( (
(
= = = =
( ( ( (
(

(
(

A
Y A V A V
Z B+ B+ K B+V
Y A V A V
A
(9)

Where
11 t
A and
12 t
A are the first 2P rows and the
last 2 ( 1) 2 N M P rows of
1 t
A . Suppose
1 t
K and
2 t
K are the first 2P rows and the last
4 ( 1) 2 N M P rows of
t
K , then there exists a matrix
H
t
V ,whichsatisfies

1 2
H
t t t
= V K K (10)

Here we call
H
t
V as a propagator operator [14]. Let
1 t
Z
and
2 t
Z be the first 2P rows and the last
4 ( 1) 2 M N P rows of
t
Z . If the noises are ignored,
then

1 1 t t
= Z K B ,
2 2 t t
= Z K B (11)

Bypremultiplying
1 t
Z by
H
t
V ,weobtain

1 1 2 2
H H
t t t t t t
= V Z V K B = K B = Z (12)

If there exist noises, we can solve

H
t
V by
( )
1
2 1 1 1
H H H
t t t t t

= V Z Z Z Z . Let
2P
t
H
t
(
=
(

I
V
V
, where
2P
I is a
2 2 P P identitymatrix,then
3 Yu Zhang, Hong Jiang, Ying-Chun Wei and Hai-Jing Cui:
A Fast and High-Resolution Multi-Target Localization Approach in MIMO Radar
www.intechopen.com

2 1 1
1 1
2 1
P t t
t t t t
H
t t t t
( ( (
=
( ( (

I K A
V K = K = K =
K A V
(13)

From (13) we can see that

t
V can span the signal
subspace. Equally dividing
t
V into two matrices
according to row, we name them as
1 t
V and
2 t
V , then
1 1 1 t t t
V K = A ,
2 1 1 t t t t
V K = A .Therefore,

2 1 1 1 1 t t t t t t t
+
= = V V A A A (14)

where
( )
1
2 1 1 1 1
H H
t t t t t t

+
= = V V V V V .From(14),weperform
an Eigenvalue decomposition of matrix
t
to yield P
majorEigenvalues
1 2
, , ,
t t tP
,whicharethediagonal
elementsof
t
.Thus,theDODestimationofPtargetscan
beobtainedfromtheEigenvalueofmatrix
t
.

Second, in order to estimate the DOA parameter, at first

we form a new data matrix Y' from the output data
matrix Y ,i.e.,

( ) ( ) ( ) , , , , , , , , , ' u | q u | q u | q = = + Y' TY A' B V (15)

where T is a Kronnecker product permutation matrix,
| |
1 1 1 1 1
'( , , , ) ( , , , ) '( , , , ), , '( , , , )
P P P P P
u | q u | q u | q u | q = = A TA a a ,
with '( , , , ) ( , , ) ( )
p p p p p r p p p t p
u | q | q u = a a a and ' V = TV .
Similarly, let
1 r
Y and
2 r
Y be the 2 ( 1) M N L
submatrices of Y' consisting of the first and last
2 ( 1) M N rows of Y' , i.e., ( )
1 1 1
, , ,
r r r
u | q = + Y A B V
and ( )
2 2 2
, , ,
r r r
u | q = + Y A B V , where ( )
1
, , ,
r
u | q A
and ( )
2
, , ,
r
u | q A are the first and last
2 ( 1) M N rows of ( , , , ) u | q A ' , respectively.
Then, ( ) ( )
2 1
, , , , , ,
r r r
u | q u | q = A A , where
( )( ) ( )( )
{ }
1
j 2 1 sin j 2 1 sin
diag e , ..., e
r r P
m d m d
r
| |
= .
TheestimationofDOAcanbederivedfromthediagonal
matrix
r
. We proceed the data of
1 r
Y and
2 r
Y in the same
way as
t1
Y and
2 t
Y , thus, the propagator operator is
( )
1
2 1 1 1
H H H
r r r r r

= V Z Z Z Z , where
1 r
Z and
2 r
Z are the first
2P rows and the last 4 ( 1) 2 M N P rows of
1
2
r
r
r
(
=
(

Y
Z
Y
. Lastly, we have
1 1 r r r r
= A A ,
where
2 1 r r r
+
= V V and
1 r
V and
2 r
V are two equally
divided submatrices of
2P
r
H
r
(
=
(

I
V
V
according to row.
Thus, the DOA estimation of P targets can be obtained
fromthePmajorEigenvalues
1 2
, , ,
r r rP
ofmatrix
r
.
Therefore,
p
u and
p
| forthepthtargetcanbewrittenas
( ) ( )
arcsin angle / 2
p tp t
d u t = (16)
( ) ( )
arcsin angle / 2
p rp r
d | t = (17)

Third, in order to estimate polarization information, let

1 v
Y and
2 v
Y be the ( 1) N M L submatrices of Y ,
consisting of the even and odd rows of Y ,
i.e., ( )
1 1 1
, , ,
v v v
u | q = + Y A B V and ( )
2 2 2
, , ,
v v v
u | q = + Y A B V ,
where ( )
1
, , ,
v
u | q A and ( )
2
, , ,
v
u | q A are the even and
odd rows of ( , , , ) u | q A , respectively. Then we have
( ) ( )
2 1
, , , , , ,
v v v
u | q u | q = A A , where { }
1 2
diag , ,...,
v P
r r r =
and
p
r is the ratio of the first element and the second
elementofmatrix
p
v in(5),denotedas[17]

j
cos
sin cos e
p
p
p
p p
r
q

= (18)

Therefore, the estimation of polarizations can be derived

from the diagonal matrix
v
. Proceed the data of
1 v
Y
and
2 v
Y in the same way as
t1
Y and
2 t
Y , so the
propagator operator is
( )
1
2 1 1 1
H H H
v v v v v

= V Z Z Z Z ,
where
1 v
Z and
2 v
Z are the first 2P rows and the last
2 2 MN P rows of
1
2
v
v
v
(
=
(

Y
Z
Y
. Finally, we have
1 1 v v v v
= A A ,where
2 1 v v v
+
= V V and
1 v
V and
2 v
V are
twoequallydividedsubmatricesof
2P
v
H
v
(
=
(

I
V
V
according
to row. Then perform Eigenvalue decomposition of
v

toyield
v
;whichisadiagonalmatrixcomposedofthe
P major Eigenvalues
1 2
, , ,
v v vP
. The polarization
parameters
p
and
p
q ofthepthtargetarecalculatedby

( )
1
tan
p p
e

= (19)
( )
angle
p p
q e = (20)

where
1
cos
p
p p
r
e
|
= .

3.2TargetLocalization

AtargetcanbelocatedifitsDOD,DOAandthedistance
Dbetweentransmitterandreceiverarraysareknownina
bistatic MIMO radar system. For the pth target,
p
u and
p
| are used to determine its position via trilateration
and
p
and
p
q areusedtoidentifymultipletargetsand
improve the resolution. The coordinate diagram for
locating a target in a bistatic MIMO radar system is
showninFig.3.
4 Int. j. adv. robot. syst., 2013, Vol. 10, 322:2013 www.intechopen.com

Figure 3. The coordinate diagram for locating a target in a
bistaticMIMOradarsystem.

FromFig.3,thecoordinateofthepthtarget
( , )
p p
x y
can
bedeterminedby

sin cos
sin( )
cos cos
sin( )
p p
p
p p
p p
p
p p
x D
y D
u |
u |
u |
u |

(21)

4.CramerRaobound

From the received data in (8), the Fisher information

matrix with respect to
p
u ,
p
| ,
p
and
p
q can be
denotedas[18]

11 12 13 14
21 22 23 24
31 32 33 34
41 42 43 44
(
(
(
=
(
(
(

F F F F
F F F F
F
F F F F
F F F F
(22)

wherethe
( ) , i j
thitemof
11
F
isgivenby

( )
( ) ( )
( ) ( )
( )( )
( ) ( )
1
11
1
1
1
, , , , , ,
, 2Re
2Re
2Re
2 Re
H
i j V
i j
H
T T
i i V j j
T T H
i V j j i
H T
V
ij ij
tr
tr e e e e
tr e e e e
L
u u
u u
u u
u | q u | q
u u
u u

(
c c | |
( =
|
c c
(
\ .

(
=
(

(
=

(
=
(




B
A B A B
F R
A B R A B
A R A BB
A R A R
(23)

where
( ) tr
denotes the trace of a matrix, Re( ) denotes
the real part,
i
e denotes the ith column of the identity
matrixand

( )
( )
( )
( )
1
1 1 1
1
, , , , , ,
t t P
r r P p p
p
u
u u
| q | q
u u
( c c
=
(
c c
(

a a
A a a
(24)
( )
( )
( )
( )
1 1 1
1
1
, , , ,
, ,
r P P p r
t t P
P
|
| q | q
u u
| |
( c c
= (
c c
(

a a
A a a
(25)

( )
( )
( )
( )
1 1 1
1
1
, , , ,
, ,
r P P p r
t t P
P

| q | q
u u

( c c
= (
c c
(

a a
A a a
(26)

( )
( )
( )
( )
1 1 1
1
1
, , , ,
, ,
r P P p r
t t P
P
q
| q | q
u u
q q
( c c
= (
c c
(

a a
A a a
(27)

1
H
L

B
R BB
(28)

where
V
E ( =

H
R VV
is the covariance matrix of the
noisematrix V .Then,

( )
1
11
2 Re
H T
V
L
u u

=


B
F A R A R

( )
1
12
2 Re
H T
V
L
u |

=


B
F A R A R
( )
1
13
2 Re
H T
V
L
u

=


B
F A R A R

( )
1
14
2 Re
H T
V
L
u q

=


B
F A R A R

( )
1
21
2 Re
H T
V
L
| u

=


B
F A R A R

( )
1
22
2 Re
H T
V
L
| |

=


B
F A R A R

( )
1
23
2 Re
H T
V
L
|

=


B
F A R A R

( )
1
24
2 Re
H T
V
L
| q

=


B
F A R A R

( )
1
31
2 Re
H T
V
L
u

=


B
F A R A R

( )
1
32
2 Re
H T
V
L
|

=


B
F A R A R

( )
1
33
2 Re
H T
V
L

=


B
F A R A R

( )
1
34
2 Re
H T
V
L
q

=


B
F A R A R

( )
1
41
2 Re
H T
V
L
q u

=


B
F A R A R

( )
1
42
2 Re
H T
V
L
q |

=


B
F A R A R

( )
1
43
2 Re
H T
V
L
q

=


B
F A R A R

( )
1
44
2 Re
H T
V
L
q q

=


B
F A R A R
(29)

where denotestheHadamardProduct.Therefore,the
CRBmatrixiscalculatedby

1
= CRB F
(30)

5. SimulationResultsandAnalysis

Assuming that the transmitter array consists of M = 6

elements and the receiver array has N = 6 pairs of
elements of crossed dipoles,
t
d and
r
d are all half a
wavelength. Walsh sequences with a length of 1024 are
selected as the orthogonally transmitted waveform. All
the P targets have RCS amplitudes of one and different
Doppler frequencies. The target echoes are elliptically
polarizedwithdifferentpolarizationangles.Theduration
5 Yu Zhang, Hong Jiang, Ying-Chun Wei and Hai-Jing Cui:
A Fast and High-Resolution Multi-Target Localization Approach in MIMO Radar
www.intechopen.com

ofasnapshotis5s.Thenumberofsnapshotsis500and
the estimation performance in all the simulations is
obtainedby100MonteCarlotrials.
5.1Simulation1
AssumingthatthereareP=3targets,theirparametersof
DOD, DOA and polarization are (10 , 40 , 60 )

,
(20 ,50 , 70 )

, (20 ,40 ,60 )

, (0 ,20 ,70 )

. Their
Doppler frequencies are 1000Hz, 2550Hz and 5000Hz,
respectively. Fig. 4 (a) and (b) respectively present the
estimation results of DODDOA and two polarization
parameters while SNR is 15dB. It is shown in Fig. 4 that
the estimate approximates to the real value. The
proposed approach can effectively estimate DOD, DOA
and polarizations for accurate identification and location
ofthemultipletargetsinthebistaticMIMOradar.

0 10 20 30 40 50 60 70 80 90
0
10
20
30
40
50
60
70
80
90
DOD (deg)
D
O
A

(
d
e
g
)

(a)DODandDOA
0 10 20 30 40 50 60 70 80 90
0
10
20
30
40
50
60
70
80
90
polarization (deg)
p
o
l
a
r
i
z
a
t
i
o
n

(
d
e
g
)

(b)Twopolarizationparameters

Figure 4. DOD, DOA and polarizations estimation results when

SNR=15dB.

The parameterestimationperformance of the algorithm

is evaluated through rootmeansquare error (RMSE)
and root CRB. The RMSE and root CRB versus SNR for
DOD, DOA and polarizations estimation are shown in
Fig.5(a)(d).

The results in Fig. 5 indicate that the RMSEs of DOD,

DOAandpolarizationsdecreasewiththeincreaseofSNR.
The RMSE is close to the root of CRB, which is a lower
boundoftheunbiasedestimatorofvariance.
0 5 10 15 20 25 30
10
-3
10
-2
10
-1
10
0
SNR (dB)
R
o
o
t

C
R
B

a
n
d

R
M
S
E

(
d
e
g
)
DOD estimation
RMSE
Root CRB

(a) TheRMSEandRootCRBversustheSNRfor

0 5 10 15 20 25 30
10
-3
10
-2
10
-1
10
0
SNR (dB)
R
o
o
t

C
R
B

a
n
d

R
M
S
E

(
d
e
g
)
DOA estimation
RMSE
Root CRB

(b)TheRMSEandRootCRBversustheSNRfor

0 5 10 15 20 25 30
10
-2
10
-1
10
0
10
1
10
2
SNR (dB)
R
o
o
t

C
R
B

a
n
d

R
M
S
E

(
d
e
g
)
Polarization estimation
RMSE
Root CRB

(c)TheRMSEandRootCRBversustheSNRfor

0 5 10 15 20 25 30
10
-2
10
-1
10
0
10
1
SNR (dB)
R
o
o
t

C
R
B

a
n
d

R
M
S
E

(
d
e
g
)
Polarization estimation
RMSE
Root CRB

(d)TheRMSEandRootCRBversustheSNRfor

Figure5.TheRMSEandRootCRBversusSNRforDOD,DOAand
polarizationsestimation.

6 Int. j. adv. robot. syst., 2013, Vol. 10, 322:2013 www.intechopen.com

5.2Simulation2

At first, the simulation investigates the situation that

there are two targets being closely spaced. Assume they
havethesameDOAand1DODdifference, (10 ,11 )

and (30 ,30 )

. Their polarization states are different,
(30 , 60 )

, (0 , 45 )

. SNR=15dB. The resolution of
DODDOAestimationiscomparedbetweentheproposed
approachandChensMethodin[11],asshowninTable1.

Parameters Proposedmethod Methodin[11]

DOD/DOA target1 target2 target1 target2
10 11 10 11

10.0068 10.9969 10.5002 5.3686
0.0068 0.0031 0.5002 5.6314
30 30 30 30

29.9468 30.0572 30.0018 30.6315

0.0532 0.0572 0.0018 0.6315
Table 1. DODDOA Estimation result when two targets are
closelyspaced()

Furthermore, a situation is investigated where there are

three closely spaced targets. Suppose that they have
(10 ,12 ,15 )

and (30 ,31 ,32 )

. Their polarization
states are (30 , 60 ,90 )

and (0 ,45 ,120 )

.
SNR=15dB. The resolution of DOD and DOA estimation
is compared between the proposed approach and Chens
Methodin[11],asshowninTable2.

Table 2. DODDOA Estimation result when three targets are

closelyspaced()

From the data for the DOADOD estimation in Table 1

and Table 2, we observe that when the radar targets are
too closely spaced to be distinguished, the proposed
method can effectively identify different targets with
highresolution by taking advantage of the different
statesofpolarizationoftheechoes.However,themethod
in [11] cannot identify multiple closely spaced targets.
Forexample,inTable1,theestimateofDODfortarget2
is5.3686,whichdeviatesfromitsrealvalueof11.Also,
inTable2,theestimatesofDODandDOAfortarget3are
4.7493and 1.5003, which greatly deviate from the real
valuesof15and32.
5.3Localizationaccuracy

Assume that the distance between transmitter array and

receiver array is D=100m. There are three closely spaced
targets whose coordinates in xy plane are (63, 35) ,
(66, 40) , (70,45) in metres and SNR=15dB. The
localizationresultsofthethreetargetsareshowninFig.6.

0 10 20 30 40 50 60 70 80 90 100
0
10
20
30
40
50
60
70
80
90
100
x (m)
y

(
m
)
Real position
Estimated position

Figure.6Thelocalizationresultsofthreecloselyspacedtargets.

It can be seen from Fig. 6 that the estimates of the

coordinates of the three targets are close to their real
values. The proposed approach can effectively locate
closelyspacedtargets.

The localization errors versus SNR for the three targets

areshowninFig.7.Theresultindicatesthattheproposed
approach has high localization accuracy in positioning
multiplecloselyspacedtargets.

0 5 10 15 20 25 30
10
-1
10
0
10
1
10
2
SNR(dB)
P
o
s
i
t
i
o
n

E
r
r
o
r

(
m
)
target 1
target 2
target 3

Figure. 7LocalizationerrorversusSNRforthreecloselyspaced
targets.

6. Conclusion

In this paper, we propose a fast and highresolution

multitarget localization approach in a bistatic MIMO
Parameters Proposedmethod Methodin[11]
DOD/DOA
target
1
target
2
target
3
target
1
target
2
target
3
10 12 15 10 12 15

10.3898 12.2706 14.2042 12.4334 12.5053 4.7493
0.3898 0.2706 0.7958 2.4334 0.5053 10.2507
30 31 32 30 31 32

29.7795 30.7990 32.7444

31.045
5
31.0726 1.5003
0.2205 0.2010 0.7444 1.0455 0.0726 33.5003
7 Yu Zhang, Hong Jiang, Ying-Chun Wei and Hai-Jing Cui:
A Fast and High-Resolution Multi-Target Localization Approach in MIMO Radar
www.intechopen.com

radar system by extending the traditional propagator

method to estimate DOD, DOA and polarization
parameters. The proposed method can effectively
combinepolarizationandangleinformationtoaccurately
identify and locate multiple targets. The closely spaced
targetscanbewelldistinguishedbypolarizationdiversity.
Also, the propagator method avoids SVD in the
covariance matrix and spectrum peak searching;
thereforethecomputationalcomplexityisreduced.Based
on the angle and polarization information, the
twodimensional (2D) position of a target can be
calculated via trilateration. In future research, the
threedimensional(3D)positionofatargetwillbefurther
determinedbyestimatingtheelevationazimuthanglesof
DODandDOAandtheDopplershiftcanbeestimatedto
locateandtrackmovingtargets.

7. Acknowledgments

This work is supported by the National Natural Science

Funds of China (61071140 and 60901060), as well as Jilin
ProvincialNaturalScienceFundsofChina(201215014).

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