Embedded Systems

Create Scenario

uavTruth and gNBTruth

   Identity：name
   Position：
   Velocity：
   ObjectID：number
 # numel(x)计算数组x中的数组元素数目

getCarrierAndPRSConfigurations(numgNBs,numUAVs)，numgNBs和numUAVs表示gNBs和UAVs的个数

配置载波的相关说明

% configures the carriers for all the gNBs and PRS configurations for each gNB and UAV pair.

[!IMPORTANT]

  • NCellID: Physical layer cell identity, specified as an integer from 0 to 1007.

  • Subcarrier spacing in kHz, for all channels and reference signals of the carrier, specified as 15, 30, 60, 120, 240, 480, or 960.

  • Cyclic prefix length, specified as one of these options.

    • 'normal' — Use this value to specify normal cyclic prefix. This option corresponds to 14 OFDM symbols in a slot.
    • 'extended' — Use this value to specify extended cyclic prefix. This option corresponds to 12 OFDM symbols in a slot. For the numerologies specified in TS 38.211 Section 4.2, extended cyclic prefix length applies for only 60 kHz subcarrier spacing.

  • Number of RBs in the carrier resource grid, specified as an integer from 1 to 275. The default value of 52 corresponds to the maximum number of RBs of a 10 MHz carrier with 15 kHz SCS.

  • NSizeGrid: Number of RBs in the carrier resource grid, specified as an integer from 1 to 275. The default value of 52 corresponds to the maximum number of RBs of a 10 MHz carrier with 15 kHz SCS.

  • NStartGrid: Start of carrier resource grid relative to CRB 0, specified as an integer from 0 to 2199. This property is the higher-layer parameter offsetToCarrier.

  • NSlot: Slot number, specified as a nonnegative integer. You can set NSlot to a value larger than the number of slots per frame. For example, you can set this value using transmission loop counters in a MATLAB® simulation. In this case, you may have to ensure that the property value is modulo the number of slots per frame in a calling code.

  • NFrame: System frame number, specified as a nonnegative integer. You can set NFrame to a value larger than the maximum frame number 1023. For example, you can set this value using transmission loop counters in a MATLAB simulation. In this case, you may have to ensure that the property value is modulo 1024 in a calling code.

  • Intracell guard bands for operation with shared spectrum channel access for FR1, specified as one of these options:

    • NGB-by-2 matrix of nonnegative integers — NGB is the number of guard bands. Each row defines a guard band: the first column specifies the start of the guard band relative to the first CRB of the carrier, specified by NStartGrid, and the second column defines the size of the guard band in RBs.
    • Cell array of nrIntraCellGuardBandsConfig objects — Only those guard band configurations that have the same subcarrier spacing as the SubcarrierSpacing object property are applicable.

    The default value of [] indicates that intracell guard bands are not configured, which means that all resources are available.

    This property corresponds to higher-layer parameter IntraCellGuardBandsPerSCS in TS 38.331[2].

  • This property is read-only.

    Number of OFDM symbols per slot, returned as 14 for normal cyclic prefix or 12 for extended cyclic prefix. The object sets this property based on the CyclicPrefix property.

  • This property is read-only.

    Number of slots per 1 ms subframe, returned as 1, 2, 4, 8, 16, 32 or 64. The object sets this property based on the SubcarrierSpacing property values 15, 30, 60, 120, 240, 480, and 960, respectively.

  • This property is read-only.

    Number of slots per 10 ms frame, returned as 10, 20, 40, 80, 160, 320, or 640. The object sets this property based on the SubcarrierSpacing property values 15, 30, 60, 120, 240, 480, and 960, respectively.

Configure PRS properties

[!IMPORTANT]

  • PRSResourceSetPeriod: PRS resource set slot periodicity and slot offset, specified as one of these options.

    • 'on' — All of the PRS resources are present in the operating slot.
    • 'off' — All of the PRS resources are absent in the operating slot.
    • Two-element vector of the form [TPRSPeriod, TPRSOffset] — TPRSPeriod is the resource set slot periodicity. The nominal value of TPRSPeriod must equal 2μ multiplied by one of the values in the set {4, 5, 8, 10, 16, 20, 32, 40, 64, 80, 160, 320, 640, 1280, 2560, 5120, 10,240}, where μ is the subcarrier spacing configuration with a value of 0, 1, 2, or 3. TPRSOffset is the resource set slot offset and must equal a value in the range [0, TPRSPeriod – 1].

  • PRSResourceoffset: Slot offset of each PRS resource (0-based) provided by the higher layer parameter dl-PRS-ResourceSlotOffset-r16, specified as a scalar in the range [0, 511] or a vector of integers in the range [0, 511]. This property represents the starting slot offset of a PRS resource relative to the PRS resource set offset (TPRSOffset).

    Configure this property for each resource in a resource set separately based on one of these options.

    • When a single resource is present, specify this property as a scalar.
    • When multiple resources are present, specify this property as a scalar or vector. If you specify a scalar, the object applies that value to all of the PRS resources in a PRS resource set. If you specify a vector, the object applies the vector element values to the corresponding PRS resource. The length of this vector must be equal to the number of PRS resources to be configured in a PRS resource set.

  • PRSResourceRepetition : PRS resource repetition factor provided by the higher layer parameter dl-PRS-ResourceRepetitionFactor-r16, specified as 1, 2, 4, 6, 8, 16, or 32. This property value is the same for all of the PRS resources in a PRS resource set.

Configure 5G Carrier, PRS, and Path Loss

gNB向定位服务器上报每个PRS资源的水平维角度和垂直维角度

PRS(定位参考信号)用于提供定位测量量，包括DL RSTD、 DL PRS RSRP、DL PRS子径接收功率和UE收发时间差等

OFDM 符号个数4096

# TEST
ofdmInfo = 

  包含以下字段的 struct:

                   Nfft: 4096
             SampleRate: 61440000
    CyclicPrefixLengths: [320 288 288 288 288 288 288 320 288 288 288 288 288 288]
          SymbolLengths: [4416 4384 4384 4384 4384 4384 4384 4416 4384 4384 4384 4384 4384 4384]
              Windowing: 144
           SymbolPhases: [0 0 0 0 0 0 0 0 0 0 0 0 0 0]
         SymbolsPerSlot: 14
       SlotsPerSubframe: 1
          SlotsPerFrame: 10

5G Signal Simulation

  • Get the positions of UAVs and gNodeBs for 5G Simulation

  • Get the gNB and UAV positions

  • Initialize with the slot number that corresponds to ‘time’

  • Generate 5G time-domain waveform for the transmission from all the gNBs

  • Check whether PRS is present in the current time instance or not. If not, continue to the next time instance

  • Apply line-of-sight path loss and path delays

  • Estimate TOA values for each UAV and gNB pair in terms of nano seconds

  • Assemble toaInformation as objectDetection using gNB positions.

  • For the set of TOA detections from each UAV, compute the TDOA detections using the difference between each TOA and the reference TOA (1st TOA)

  • For each TDOA set of detections from a unique UAV, compute position detections using spherical intersection algorithm.
  • Track UAVs by feeding their position estimates to a tracker