Radar 9 MIMO Radar

EE3-27: Principles of Classical and Modern Radar
MIMO Radar
Professor A. Manikas
Department of Electrical & Electronic Engineering

Imperial College London
February 2020 (v.21a)
A. Manikas (Imperial College London) (Department

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Table of Contents - MIMO Radar
1 Introduction 3
2 Wireless Systems and Radar Classi…cation 4
3 MIMO Radar Rx Signal Modelling 5
Single Target Rx Signal Modelling 6
Multi Target Rx Signal Modelling 9
4 Classical MIMO and Phased-Array Radar 11
Compact Analogue Representation 12
Compact Digital Representation 13
Modelling: Classical MIMO Radar vs Phased-Array Radar 14
5 Virtual-MIMO Radar Modelling 16
Virtual MIMO Transformation 16
Three Linear Properties used in Virtual MIMO 19
Equivalent virtual-MIMO Modelling 20
Spatial Convolution and Virtual Antenna Array 21
Examples of Spatial Convolution and Virtual Arrays 22
6 MIMO Radar Estimation Algorithms 25
Classical MIMO Estimation Algorithms 25
Virtual MIMO Estimation Algorithms 27
7 MIMO Advantages 28
8 Massive MIMO Radar 29
9 MIMO Radar: Representative Example 30
10 Appendices 33
Appendix-A: Monostatic SISO Radar 34
Appendix-B: Monostatic SIMO Radar 35

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Introduction
MIMO radar is a family of modern and very powerful radar systems which
incorporates
I antenna arrays at both the radar’s Tx and Rx,
I suitable vector-signal baseband generators at the radar’s Tx
I sophisticated array processing algorithms at the radar’s baseband Rx
MIMO radar
I improve the spatial radar resolution,
I provide a substantially improved immunity to interference.
I provide considerable improvement of the signal-to-noise ratio and, consequently,
the probability of detection of the targets.
MIMO radar taxonomy:
I with collocated antennas (so-called “Monostatic” MIMO)
I with widely separated Tx and Rx antennas (so-called “Bistatic” MIMO).
I with distributed antennas ("Large Aperture Arrays" MIMO) where the target is
regarded by each antenna from another aspect angle.
In the collocated MIMO radar case, the Tx and Rx antennas are close enough
(small aperture arrays) such that the target radar cross-sections (RCS)
observed by the Tx and Rx antenna elements are identical, i.e.
(θ̄, φ̄)DOD = (θ, φ)DOA
In this topic we focus on "monostatic" MIMO radar.
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Wireless Systems and Radar Classi…cation
9 a New classi…cation of radar (and, in general, of wireless systems): according to the
number of antennas/sensors used in both Tx and Rx
Terminology
S: Single M: Multiple
I: Input O: Output

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MIMO Radar: Backscatter Modelling
Consider a single path from a Tx-array of N antennas to an Rx-array

of N antennas with locations given by the matrices
T
Tx-array: r = [r 1 , r 2 , ..., r N̄ ] = r x , r y , r z (3 N) (1)
T
Rx-array: r = [r 1 , r 2 , ..., r N ] = r x , r y , r z (3 N) (2)
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Single Target MIMO Radar: Modelling of the Rx
Vector-Signal x(t)
we have seen before that for a monostatic radar (MIMO or not) the
direction-of-departure θ, φ and the direction-of-arrival is (θ, φ) are
the same, i.e.
θ, φ = (θ, φ)
and the impulse response for a single target is
MIMO radar H
or i- single target: h(t ) = βS (θ, φ).S (θ, φ).δ(t techo ) (3)
Phased-array | {z }
scalar
where β has been re-de…ned to include also the Doppler term, and
Tx: S = S (θ, φ) = exp +jrT k (θ, φ) (4)
Rx: S = S (θ, φ) = exp jrT k (θ, φ) (5)

with k (θ, φ) denoting the wavenumber vectors of the Tx-array and
Rx-array respectively
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Vector-Signal x(t) (cont.)

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Consider a single Tx transmitting a baseband vector-signal b (t ) in the
presence of a single target (MIMO radar).
The received (N 1) baseband vector-signal x (t ) can be modelled as
follows:
x (t ) = h (t ) b (t ) + n(t ) + x c (t )
H
= β.S.S δ(t τ echo,` ) b (t ) + n(t ) + x c (t )
H
) x (t ) = β.S.S b (t τ echo ) + n(t ) + x c (t ) (6)
| {z }
,single target echo
where
T
n(t ) = n1 ( t ) , n2 ( t ) , , nN ( t ) (7)
T
x c (t ) = xc 1 (t ), xc 2 (t ), , xcN (t ) (8)

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Multi Target MIMO Radar: Modelling of the Rx
Vector-Signal x(t)
In the following …gure the vectors S ` = S (θ ` , φ` ) 2 C N and S ` = S (θ ` , φ` ) 2 C N are
the Tx- and Rx- array manifold vectors of the `-th target.
Consider a single Tx
transmitting a baseband
vector-signal b (t ) using
and antenna-array in the
presence of M targets
(MIMO radar).
we want to model the

vector-signal at the
output of the Rx-array.

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Multi Target MIMO Radar: Modelling of the Rx
The impulse response of the MIMO multi-target backscatter is
M H
MIMO Radar, multi-target: h (t ) = ∑ β` .S ` .S ` δ(t τ echo,` ) (9)
`=1
where β` has been re-de…ned to include also the Doppler term of the `
target.
The received (N 1) vector-signal x (t ) can be modelled as follows:
x (t ) = h (t ) b (t ) + n(t ) + x c (t )
!
M
H
= ∑ β` .S ` .S ` δ(t τ echo,` ) b (t ) + n(t ) + x c (t )
`=1
m
H
) x (t ) = ∑ β` .S ` .S ` b (t τ echo,` ) + n(t ) + x c (t )
`=1 (10)
| {z }
,multi target echo
where n(t ) and x c (t ) are the noise and clutter terms (see Equ.7 and 8).
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Monostatic MIMO and Phased-Array Radar
Phased-Array radar may be SIMO or MIMO.

Phased-Array radar: if both Tx and Rx employ an antenna array then this
belongs to the family of MIMO radar.
In a similar fashion to a digital phased array radar in a digital MIMO radar
each antenna has its own transceiver module and its own A/D converter.
In a Phased-Array radar, the baseband signal generator produces a signal
(scalar signal) which is copied to each Tx-antenna.
In a MIMO radar, the baseband signal generator produces a vector-signal
and each Tx antenna has its own arbitrary baseband waveform generator.
This individual waveforms is also the basis for an assignment of the echo
signals to their source.
Note that some people wrongly believe that Phased-Array radar and
MIMO radar are two di¤erent systems. This is re‡ected in some old
publications where MIMO radar and phased-array radar are compared but
the phased array radar in these comparisons is often a SIMO and not a
MIMO phased-array radar.

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MIMO Analogue Representation vs Phased-Arrays
Analogue Phased Array (MIMO) Analogue Classical MIMO

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MIMO Digital Representation vs Phased-Arrays
Digital Phased Array (MIMO) Digital Classical MIMO

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Modelling: Phased-Array Radar

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Modelling: Classical MIMO Radar

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Virtual-MIMO Radar Transformation

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Example (Example of a virtual signal transformation)

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Kronecker Product
the symbol denotes the Kronecker product of two matrices or
vectors
for two matrices A and B

A11 A12 A11 B A12 B
if A = then A B= (11)
A21 A22 A21 B A22 B
for two vectors A and B
A1 A1 B
if A= then A B= (12)
A2 A2 B

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Three Linear Properties used in Virtual MIMO

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Equivalent Virtual MIMO Modelling

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Spatial Convolution and Virtual Antenna Array
T
Tx-array: r , [r 1 , r 2 , ..., r N ] = r x , r y , r z (3 N)
T
Rx-array: r , [r 1 , r 2 , ..., r N ] = r x , r y , r z (3 N)
virtual-array: rvirtual , r 1TN + 1TN r (13)

m
S virtual , S S (14)
N.B.:
1 Equation 13 is known as "spatial convolution".
2 The concept of the "virtual array", is also applicable to MISO.
3 A MIMO is equivalent to a "virtual-MISO" (by virtually transferring
the Tx antenna array to the Rx) or to a "virtual-SIMO" (by virtually
transferring the Rx antenna array to the Tx).
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Examples of Spatial Convolution and Virtual Arrays
Example (MIMO: Tx=linear; Rx=linear)

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Example (MIMO: Tx=linear, y-axis; Rx=linear, x-axis.)

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Example (MIMO: Tx=circular; Rx=Linear)

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MIMO Radar: Classical MIMO Estimation Algorithms
Classical MIMO algorithms: 9 various algorithms for estimating β and

directions (θ, φ). This is done by expressing β as a function of
direction (θ, φ) and then searching for the maximum.
I Least Squares (LS) algorithm
I Capon’s algorithm
I Amplitude and Phase Estimation (APES) algorithm
I Approximate Maximum Likelihood (AML)
I Capon-and-AML (CAML) algorithm

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LS equation
S (θ, φ)H .Rxb .S (θ, φ)
β(θ, φ) = ; (15)
N.N
Capon’s equation:
S (θ, φ)H .Rxx1 .Rxb .S (θ, φ)
β(θ, φ) = ; (16)
N.S (θ, φ)H .Rxx1 .S (θ, φ)
In Equs 15 and 16, Rxm and Rxx are de…ned as follows:
n o 1
Rxb = E x (t ).b H (t ) ' XBH ; Rxb 2C N N
(17)
L
n o 1
Rxx = E x (t ).x H (t ) ' XXH ; Rxx 2C N N
(18)
L
L = number of samples/snapshots (19)
X = L snapshots of x (t ); X 2C N L
(20)
B = L snapshots of b (t ); B 2C N L
(21)
(θ, φ) = arg max β(θ, φ) (22)
8θ,φ

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MIMO Radar: Virtual MIMO Estimation Algorithms
Virtual MIMO algorithms:
I Virtual Steering Vector algorithms
I Virtual Capon’s algorithm
I Virtual Multiple-Signal-Classi…cation (virtual-MUSIC) algorithm
Virtual Steering Vector equation
v ( θ,φ )Rxv xv S v ( θ,φ )
SH
ξ (θ, φ) = (N N )2
(23)
Virtual Capon’s equation
1
ξ (θ, φ) = (24)
v ( θ,φ )Rxv xv S v ( θ,φ )
1
SH
(θ, φ) can be estimated as follows:

(θ, φ) = arg max ξ (θ, φ) (25)
8θ,φ
Rxv xv denotes the covariance matrix of the virtual signal x v (t ), i.e.

n o 1
Rxv xv = E x v (t ).x v (t )H (t ) ' Xv XHv ; Rxv xv 2C
NN NN
(26)
L
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MIMO Advantages
More degrees of freedom due to the potential of using the concept of

"virtual" antennas
Higher angular resolution.
Higher number of targets/clutter in a given range-Doppler cell, which

can be detected and localized.
Lower sidelobes by virtual spatial windowing.
Digital beamforming and beam-steering at both the Tx and the Rx

arrays, and therefore avoid beam shape loss in cases that the target is
not in the center of the beam.
Decrease the spatial power density of the Tx signal – spatial spread

spectrum (spatial-SSS) which is critical for Low Probability of
Intercept Radar (LPI-Radar).

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Massive MIMO Radar
There is an increased interest in "massive" MIMO, i.e. to increase
the "degrees-of-freedom" by increasing the number of antennas to
100s or 1000s.

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MIMO Radar: Representative Example
Example (MIMO Radar - Cluster of UAVs)

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Example (MIMO Radar: Trajectory Tracking with a Cluster of UAVs)

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Example (MIMO Radar: Tracking the UAV Geometry)

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Appendices
SIMO Radar: quite popular
SIMO architectures: very powerful; more popular in bistatic radar (the

Rx antenna can easily estimate, amongst others, the target direction
θ Rx ).
MISO architectures: Not so popular (limited radar applications)
MIMO Radar architectures: more powerful than other radar

architectures; more complex

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Appendix-A: Monostatic SISO Radar

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Appendix-B: Monostatic SIMO Radar
The vector S ` = S (θ ` , φ` ) 2 C N , is the Rx array manifold vector of

the `-th target.
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Consider the Tx transmits a scalar baseband signal b (t ) in the
presence of M targets (SIMO radar).
In a SIMO radar, if there are M targets, the multi-target backscatter
impulse response (vector) is
M
SIMO radar, multi-target: h (t ) = ∑ S (θ ` , φ` ).β` .δ(t τ echo,` )
`=1
(27)
and the received (N 1) vector-signal x (t ) can be modelled as
follows:
x (t ) = h (t ) b (t ) + n(t ) + x c (t ) (28)
!
M
= ∑ S (θ ` , φ` ).β` .δ(t τ echo,` ) b (t ) + n(t ) + x c (t )
`=1
M
) x (t ) = ∑ S (θ ` , φ` ).β` .b (t τ echo,` ) + n(t ) + x c (t )
(29)
`=1
| {z }
,multi-target echoes
where n(t ) and x c (t ) are the noise and clutter terms (see Equ.7 and
8).
A. Manikas (Imperial College London)
(Department
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Appendix-C: Monostatic MISO Radar
If the radar Tx employs an array of N antennas with locations r
then the backscatter impulse response is:
I for a single target:
H
MISO-radar, single target: h (t ) = βS δ(t techo ) (30)
where
= S (θ, φ) = exp(+j [r 1 , r 2 , . . . , r N ]T k (θ, φ))
S (31)
= exp(+j [r x , r y , r z ]k (θ, φ)) (32)
= (N 1) complex vector
2πFc 2π
k (θ, φ) = .u (θ, φ) = .u (θ, φ)
c λc
I for a multi-target:
L H
MISO-radar, multi-target: h (t ) = ∑ β` .S ` δ(t τ echo,` ) (33)
`=1
where the vector S ` = S (θ ` , φ` ) 2 C N , is the Tx array manifold vector

of the `-th target.
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Consider a single Tx transmitting a baseband vector-signal b (t ) in
the presence of M targets (MISO radar).
The received scalar -signal x (t ) can be modelled as follows:
x (t ) = h (t ) b (t ) + n(t ) + x c (t )
!
M
H
= ∑ β` .S ` δ(t τ echo,` ) b (t ) + n(t ) + xc (t )
`=1
M
H
=) x (t ) = ∑ β` .S ` b (t τ echo,` )+n(t ) + xc (t )
`=1
| {z }
,scalar echoes

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EE3-27: Principles of Classical and Modern Radar

Department of Electrical & Electronic Engineering

February 2020 (v.21a)

A. Manikas (Imperial College London) (Department

A. Manikas (Imperial College London) (Department

A. Manikas (Imperial College London) (Department

Consider a single path from a Tx-array of N antennas to an Rx-array

Rx: S = S (θ, φ) = exp jrT k (θ, φ) (5)

A. Manikas (Imperial College London) (Department

A. Manikas (Imperial College London) (Department

we want to model the

A. Manikas (Imperial College London) (Department

Phased-Array radar may be SIMO or MIMO.

A. Manikas (Imperial College London) (Department

A. Manikas (Imperial College London) (Department

A. Manikas (Imperial College London) (Department

A. Manikas (Imperial College London) (Department

A. Manikas (Imperial College London) (Department

A. Manikas (Imperial College London) (Department

A. Manikas (Imperial College London) (Department

for two matrices A and B

for two vectors A and B

A. Manikas (Imperial College London) (Department

A. Manikas (Imperial College London) (Department

A. Manikas (Imperial College London) (Department

virtual-array: rvirtual , r 1TN + 1TN r (13)

A. Manikas (Imperial College London) (Department

A. Manikas (Imperial College London) (Department

A. Manikas (Imperial College London) (Department

Classical MIMO algorithms: 9 various algorithms for estimating β and

I Least Squares (LS) algorithm

I Amplitude and Phase Estimation (APES) algorithm

I Approximate Maximum Likelihood (AML)

I Capon-and-AML (CAML) algorithm

A. Manikas (Imperial College London) (Department

A. Manikas (Imperial College London) (Department

(θ, φ) can be estimated as follows:

Rxv xv denotes the covariance matrix of the virtual signal x v (t ), i.e.

More degrees of freedom due to the potential of using the concept of

Higher angular resolution.

Higher number of targets/clutter in a given range-Doppler cell, which

Lower sidelobes by virtual spatial windowing.

Digital beamforming and beam-steering at both the Tx and the Rx

Decrease the spatial power density of the Tx signal – spatial spread

A. Manikas (Imperial College London) (Department

A. Manikas (Imperial College London) (Department

A. Manikas (Imperial College London) (Department

A. Manikas (Imperial College London) (Department

A. Manikas (Imperial College London) (Department

SIMO Radar: quite popular

SIMO architectures: very powerful; more popular in bistatic radar (the

MISO architectures: Not so popular (limited radar applications)

MIMO Radar architectures: more powerful than other radar

A. Manikas (Imperial College London) (Department

A. Manikas (Imperial College London) (Department

The vector S ` = S (θ ` , φ` ) 2 C N , is the Rx array manifold vector of

where the vector S ` = S (θ ` , φ` ) 2 C N , is the Tx array manifold vector

A. Manikas (Imperial College London) (Department