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I. I NTRODUCTION
After the introduction of higher order spherical microphone
array and associated signal processing in [1, 2], the spherical
microphone array is widely being used for direction of arrival
(DOA) estimation and tracking of acoustic sources [39]. This
is primarily because of the relative ease with which array
processing can be performed in spherical harmonics (SH)
domain without any spatial ambiguity. Cramer-Rao bound
(CRB) places a lower bound on the variance of a unbiased
estimator. It provides a benchmark against which any estimator
is evaluated. Hence, it is of sufficient interest to develop
an expression for Cramer-Rao bound in spherical harmonics
domain.
In [10], CRB expression was derived for the case of uniform
linear array (ULA) but without using the theory of CRB. This
is addressed in [11], which provides a textbook derivation
for stochastic CRB. Explicit CRBs of azimuth and elevation
are developed in [12, 13] for planar arrays. CRB analysis is
presented for near-field source localization in [14, 15] using
ULA and UCA (Uniform Circular Array) respectively. In
[16], closed-form CRB expressions has been derived for 3D array made from ULA branches. However, to the best
of authors knowledge, closed-form expression for CRB in
spherical harmonics domain is not available in literature. In
this paper, an expression for stochastic CRB for spherical array
is derived in spherical harmonics domain.
This work was funded in part by TCS Research Scholarship Program
under project number TCS/CS/20110191 and in part by DST project
EE/SERB/20130277.
c
2014
IEEE. Personal use of this material is permitted. However, permission to use this material for any other purposes must be obtained from the
IEEE by sending a request to pubs-permissions@ieee.org.
Lalan Kumar and Rajesh M. Hegde are with the Department
of Electrical Engineering, Indian Institute of Technology, Kanpur, email:{lalank,rhegde}@iitk.ac.in
Color versions of one or more of the figures in this paper are available
online at http://ieeexplore.ieee.org.
Digital Object Identifier xxxxx
IN
L
X
l=1
sl t i (l ) + ni (t)
(1)
(2)
L
X
l=1
(3)
(4)
jkT
l r1
,e
jkT
l r2
,...,e
(5)
jkT
l rI
]T
(6)
th
ejkl
ri
X
n
X
bn (kr)[Ynm (l )] Ynm (i )
(7)
n=0 m=n
j
(kr)
= 4j n jn (kr) n
hn (kr) , rigid sphere (9)
hn (kr)
function, similar to complex exponential ejt used for decomposition of real periodic functions.
Substituting Equations 6 and 7 in Equation 5, we have the
expression for steering matrix as
V(, k) = Y()B(kr)YH ()
(11)
I
X
ai pi (; )[Ynm (i )]
(14)
i=1
(15)
n=0
YH ()Y() = I,
(16)
b (kr) in dB
n=1
20
40
60
n=2
n=3
80
n=4
100
120 1
10
10
kr
10
(17)
(18)
(kr)Y ()
(20)
(21)
KUMAR & HEGDE : STOCHASTIC CRAMER-RAO
BOUND ANALYSIS FOR DOA ESTIMATION IN SPHERICAL HARMONICS DOMAIN
IN
(22)
where = [1 L ]T and = [1 L ]T .
A. Existence of the Stochastic CRB in Spherical Harmonics
Domain
The existence of the stochastic CRB is first validated
herein for spherical harmonics data model. In this context,
the probability density function (PDF) of the observed data
model is proved to satisfy the regularity condition. Mean of
the observation from Equations 18 and 20 under stochastic
signal assumption is
E[anm (; )] = YH ()E[s()] + E[n()] = 0.
The covariance matrix of the observation can be written as
Ra = E[anm anm H ] = YH ()Rs Y() + 2 C
(23)
|Ra |
where |.| denotes the determinant.
Utilizing anm H Ra1 anm = tr{anm anm H Ra1 }, the loglikelihood function can be written as
ln p(anm (); ) = K0 ln |Ra | tr{anm anm
Ra1 }
(25)
th
parameter
var(
r ) [F 1 ()]rr
(27)
Ra 1 Ra
R
}.
r a s
(29)
r=1
(31)
(32)
H Rs Y
r Ra1 Y
+Ra1 YH Rs Y
s
s
r R1 YH Rs Y
+R1 YH Rs Y
(33)
(34)
With suitable pairing and utilizing Hermitian positive semidefiniteness of covariance matrix, x can be rewritten as
r R1
H Rs YR1 YH Rs Y
x=Y
a
a
s
r Ra1 )
H Rs YRa1 YH Rs Y
tr(x) = tr(Y
s
(35)
(36)
|Ra |
a
a
= tr{Ra1 R
=
Having the identity, ln
},
1 Ra 1
Ra Ra and knowing the fact that expectation and
trace operation commute, it can be shown that given likelihood
function satisfies the regularity conditions.
R1
H Rs Y) = tr(w).
r R1 Y
tr(x) = tr(Ra1 YH Rs Y
a
s
Similarly, tr(y) = tr(z).
(37)
Noting the property of trace of a matrix, tr(xH ) = tr(x) ,
where denotes the complex conjugate, and utilizing results
x 10
1.4
CRB()
CRB()
x 10
CRB()
CRB()
1.2
CRB
CRB
1
3
2
0.8
0.6
0.4
1
0.2
0
0
2.5
7.5
10
SNR(dB)
12.5
15
17.5
0
50
20
(a)
75
100
125
150
175
200
Snapshots
225
250
275
300
(b)
Fig. 2. Variation of CRB for elevation () and azimuth () estimation (a) at various SNR with 300 snapshots, (b) with varying snapshots at SNR 20dB.
Source is located at (20 , 50 ).
H er eT Rs YR1 Y
H es
+ eTs Rs YRa1 Y
(39)
r
a
H )T (Rs YR1 Y
H)
+(Rs YRa1 Y
a
(40)
(41)
Similar to Equation 40, the other block of FIM with only one
parameter vector, F can be written as
R1 Y
H)
F = 2Re (Rs YRa1 YH Rs )T (Y
a
H )T (Rs YRa1 Y
H ) . (42)
+(Rs YRa1 Y
Ynm (s )
= jmYnm (s ).
s
(43)
endre function. The derivative of associated Legendre polynomial can be expressed as [27]
Pnm (z)
1
m
= 2
[znPnm (z) (m + n)Pn1
(z)] (44)
z
z 1
For z = cos , the derivative becomes
Pnm (cos )
1
m
=
[n cos Pnm (cos )(m+n)Pn1
(cos )].
sin
(45)
Utilizing the property of Legendre polynomial, the Equation
45 can be rewritten as
Pnm (cos )
1
m
=
[(n m + 1)Pn+1
(cos ) (n + 1) cos Pnm (cos )].
sin
(46)
can be computed by using the following equation.
Now, Y
s
(2n + 1)(n m)! jmr 1
Ynm (r )
=
e
r
4(n + m)!
sin r
m
.[(n m + 1)Pn+1
(cos r ) (n + 1) cos r Pnm (cos r )] (47)
KUMAR & HEGDE : STOCHASTIC CRAMER-RAO
BOUND ANALYSIS FOR DOA ESTIMATION IN SPHERICAL HARMONICS DOMAIN
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