arXiv subjects

Troels Pedersen

Publications and source records attributed to Troels Pedersen.

17 recordsLinked to original sources

arXiv2026

Joint Data Association and Tracking for Surveillance Radar Using Gaussian Processes

The growing presence of unmanned aerial vehicles or drones has increased the necessity of developing methods to detect and track them to secure restricted airspaces. This can be done using radars which is a common sensor around e.g. airports, an emerging method to track targets is by using Gaussian processes. However, false alarms is ever present in radars especially if tracking weak targets complicating the data association task. We propose a joint data association and tracking algorithm for a single target using a variational Bayesian approach to approximate the full posterior of both the association variable as well as the track. We show that the proposed algorithm outperforms a state of the art data association and tracking algorithm in the form of a Bernoulli filter, as well as the classical Kalman filter, for a large range of detection probabilities.

eess.SP↗

arXiv2026

A Variational Message Passing Framework for Multi-Sensor Multi-Object Tracking using Raw Radar Signals

The growing proliferation of unmanned aerial vehicles (UAVs) poses major challenges for reliable airspace surveillance, as drones are typically small, have low radar cross-sections, and often move slowly in cluttered environments. These characteristics make the joint tasks of detecting, localizing, and tracking multiple objects difficult for conventional detect-then-track (DTT) approaches, which rely on pre-processed measurements and may discard informative low-signal-to-noise ratio (SNR) signal components. To overcome these limitations, we propose a variational message passing (VMP)-based direct multiobject tracking (MOT) method that operates directly on raw radar signals and explicitly accounts for an unknown and time-varying number of objects. The proposed method is formulated for MIMO multi-radar systems and performs data fusion by jointly processing the signals of all radar sensors using a probabilistic model. A superimposed signal model is employed to capture correlations in the raw sensor data caused by closely spaced objects, and a hierarchical Bernoulli-Gamma model is introduced to jointly model object existence, reflectivities, and the reliability of individual radar-object links. Using a mean-field approximation, we derive message updates, yielding a computationally efficient VMP algorithm that simultaneously performs object detection, track formation, state estimation, and nuisance parameter learning directly from the radar signal. Simulation results in synthetic scenarios with weak and closely-spaced objects show that the proposed direct-MOT method outperforms a conventional pipeline based on super-resolution estimation followed by belief propagation (BP)-based tracking, particularly in low-SNR and clutter-rich conditions, demonstrating the advantages of direct signal-level inference and coherent multi-radar fusion.

eess.SP↗

arXiv2025

Variational Bayesian Estimation of Low Earth Orbits for Satellite Communication

Low-earth-orbit (LEO) satellite communication systems that use millimeter-wave frequencies rely on large antenna arrays with hybrid analog-digital architectures for rapid beam steering. LEO satellites are only visible from the ground for short periods of times (a few tens of minutes) due to their high orbital speeds. This paper presents a variational message passing algorithm for joint localization and beam tracking of a LEO satellite from a ground station equipped with a hybrid transceiver architecture. The algorithm relies on estimating the parameters of the orbit, which is modelled as circular. Angles are then obtained from the orbit in a straightforward manner. Simulation results show that the proposed method is highly resilient to missed detections, enables reliable satellite tracking even near the horizon, and effectively alleviates the ambiguities inherent in hybrid architectures.

eess.SP↗

arXiv2025

Second-Order Characterization of Micro Doppler Radar Signatures of Drone Swarms

We investigate the second-order characteristics of the radar return signal from a swarm of rotor drones. We consider the case of a swarm of identical drones, with each a number of rotors comprised of a number of rotor blades. By considering the orientation and speed of each rotor as stochastic variables, we derive expressions for the autocorrelation function (ACF) and power spectral density (PSD). The ACF and PSD are in the form of an infinite series with coefficients that drop to zero at a predictable limit. Thus in practical applications, the series may be truncated. As a special case, we show that for deterministic rotor speed, the ACF can be expressed in closed form. We further investigate how system parameters (Blade length, Rotor speed, number of blades, and number of drones) influence the derived expressions for the ACF and PSD.

eess.SP↗

arXiv2025

Modeling electrical distribution networks with inhomogeneous Galton-Watson trees

In this paper we consider inhomogeneous Galton-Watson trees, and derive various moments for such processes: the number of vertices, the number of leaves, and the height of the tree. Also we make a simple condition of finiteness. We use these processes to model a data set consisting of electrical distribution networks, where we make a flexible framework for formulating models through the mean and variance of the offspring distributions. Furthermore, we introduce two mixture distributions as offspring distributions to reflect the particular form of the data. For estimation we use maximum likelihood estimation.

stat.AP↗

arXiv2025

Clutter Tracking using Variational Message Passing

We propose a message passing algorithm for tracking of clutter signals in MIMO radar. The method exploits basis expansion to linearise the signal model, to enable mean field approach for tracking the posterior distribution of the clutter as it evolves across time, as well as the mean and precision of the clutter map. The method shows good estimation accuracy in simulations for a scenario that adhere to the statistical model used for derivation as well as one that does not. The complexity of the method is linear in both the amount of parameters chosen and the amount of data under consideration.

eess.SP↗

arXiv2025

Distributed Algorithm for Cooperative Joint Localization and Tracking Using Multiple-Input Multiple-Output Radars

We propose a distributed joint localization and tracking algorithm using a message passing framework, for multiple-input multiple-output radars. We employ the mean field approach to derive an iterative algorithm. The obtained algorithm features a small communication overhead that scales linearly with the number of radars in the system. The proposed algorithm shows good estimation accuracy in two simulated scenarios even below 0 dB signal to noise ratio. In both cases the ground truth falls within the 95 % confidence interval of the estimated posterior for the majority of the track.

eess.SP↗

arXiv2025

Variational Message Passing-based Multiobject Tracking for MIMO-Radars using Raw Sensor Signals

In this paper, we propose a direct multiobject tracking (MOT) approach for MIMO-radar signals that operates on raw sensor data via variational message passing (VMP). Unlike classical track-before-detect (TBD) methods, which often rely on simplified likelihood models and exclude nuisance parameters (e.g., object amplitudes, noise variance), our method adopts a superimposed signal model and employs a mean-field approximation to jointly estimate both object existence and object states. By considering correlations within in the radar signal due to closely spaced objects and jointly estimating nuisance parameters, the proposed method achieves robust performance for close-by objects and in low-signal-to-noise ratio (SNR) regimes. Our numerical evaluation based on MIMO-radar signals demonstrate that our VMP-based direct-MOT method outperforms a detect-then-track (DTT) pipeline comprising a super-resolution sparse Bayesian learning (SBL)-based estimation stage followed by classical MOT using global nearest neighbour data association and a Kalman filter.

eess.SP↗

arXiv2024

A stochastic approach to estimate distribution grid state with confidence regions

Widely available measurement equipment in electrical distribution grids, such as power-quality measurement devices, substation meters, or customer smart meters do not provide phasor measurements due to the lack of high resolution time synchronisation. Instead such measurement devices allow to obtain magnitudes of voltages and currents and the local phase angle between those. In addition, these measurements are subject to measurement errors of up to few percent of the measurand. In order to utilize such measurements for grid monitoring, this paper presents and assesses a stochastic grid calculation approach that allows to derive confidence regions for the resulting current and voltage phasors. Two different metering models are introduced: a PMU model, which is used to validate theoretical properties of the estimator, and an Electric Meter model for which a Gaussian approximation is introduced. The estimator results are compared for the two meter models and case study results for a real Danish distribution grid are presented.

stat.AP↗

arXiv2022

Polarimetric Room Electromagnetics

A polarimetric model for the power delay spectrum for inroom communication is proposed. The proposed model describes the gradual depolarization of the signal with delay. The model is based on the theory of room electromagnetics, specifically the mirror source approach, which is straightforwardly generalized to the polarimetric case. Compared to the previously known unipolarized room electromagnetic models, which are contained as a special case, the new model holds one additional parameter describing the polarization leakage per wall bounce. \tprev{The proposed model is found to fit well to two sets of polarimetric data one mm-wave and one cm-wave measurements

eess.SP↗

arXiv2021

A General Method for Calibrating Stochastic Radio Channel Models with Kernels

Calibrating stochastic radio channel models to new measurement data is challenging when the likelihood function is intractable. The standard approach to this problem involves sophisticated algorithms for extraction and clustering of multipath components, following which, point estimates of the model parameters can be obtained using specialized estimators. We propose a likelihood-free calibration method using approximate Bayesian computation. The method is based on the maximum mean discrepancy, which is a notion of distance between probability distributions. Our method not only by-passes the need to implement any high-resolution or clustering algorithm, but is also automatic in that it does not require any additional input or manual pre-processing from the user. It also has the advantage of returning an entire posterior distribution on the value of the parameters, rather than a simple point estimate. We evaluate the performance of the proposed method by fitting two different stochastic channel models, namely the Saleh-Valenzuela model and the propagation graph model, to both simulated and measured data. The proposed method is able to estimate the parameters of both the models accurately in simulations, as well as when applied to 60 GHz indoor measurement data.

eess.SP↗

arXiv2021

Joint Modeling of Received Power, Mean Delay, and Delay Spread for Wideband Radio Channels

We propose a multivariate log-normal distribution to jointly model received power, mean delay, and root mean square (rms) delay spread of wideband radio channels, referred to as the standardized temporal moments. The model is validated using experimental data collected from five different measurement campaigns (four indoor and one outdoor scenario). We observe that the received power, mean delay and rms delay spread are correlated random variables and, therefore, should be simulated jointly. Joint models are able to capture the structure of the underlying process, unlike the independent models considered in the literature. The proposed model of the multivariate log-normal distribution is found to be a good fit for a large number of wideband data-sets.

eess.SP↗

arXiv2018

Stochastic Multipath Model for the In-Room Radio Channel based on Room Electromagnetics

We propose a stochastic multipath model for the received signal for the case where the transmitter and receiver, both with directive antennas, are situated in the same rectangular room. This scenario is known to produce channel impulse responses with a gradual specular-to-diffused transition in delay. Mirror source theory predicts the arrival rate to be quadratic in delay, inversely proportional to room volume and proportional to the product of the antenna beam coverage fractions. We approximate the mirror source positions by a homogeneous spatial Poisson point process and their gain as complex random variables with the same second moment. The multipath delays in the resulting model form an inhomogeneous Poisson point process which enables derivation of the characteristic functional, power/kurtosis delay spectra, and the distribution of order statistics of the arrival delays in closed form. We find that the proposed model matches the mirror source model well in terms of power delay spectrum, kurtosis delay spectrum, order statistics, and prediction of mean delay and rms delay spread. The constant rate model, assumed in e.g. the Saleh-Valenzuela model, is unable to reproduce the same effects.

eess.SP↗

arXiv2017

Modelling of Path Arrival Rate for In-Room Radio Channels with Directive Antennas

We analyze the path arrival rate for an inroom radio channel with directive antennas. The impulse response of this channel exhibits a transition from early separate components followed by a diffuse reverberation tail. Under the assumption that the transmitter's (or receiver's) position and orientation are picked uniformly at random we derive an exact expression of the mean arrival rate for a rectangular room predicted by the mirror source theory. The rate is quadratic in delay, inversely proportional to the room volume, and proportional to the product of beam coverage fractions of the transmitter and receiver antennas. Making use of the exact formula, we characterize the onset of the diffuse tail by defining a "mixing time" as the point in time where the arrival rate exceeds one component per transmit pulse duration. We also give an approximation for the power-delay spectrum. It turns out that the power-delay spectrum is unaffected by the antenna directivity. However, Monte Carlo simulations show that antenna directivity does indeed play an important role for the distribution of instantaneous mean delay and rms delay spread

cs.IT↗

arXiv2016

Cooperative Localization for Mobile Networks: A Distributed Belief Propagation - Mean Field Message Passing Algorithm

We propose a hybrid message passing method for distributed cooperative localization and tracking of mobile agents. Belief propagation and mean field message passing are employed for, respectively, the motion-related and measurement-related part of the factor graph. Using a Gaussian belief approximation, only three real values per message passing iteration have to be broadcast to neighboring agents. Despite these very low communication requirements, the estimation accuracy can be comparable to that of particle-based belief propagation.

eess.SY↗

arXiv2011

Modeling of Reverberant Radio Channels Using Propagation Graphs

In measurements of in-room radio channel responses an avalanche effect can be observed: earliest signal components, which appear well separated in delay, are followed by an avalanche of components arriving with increasing rate of occurrence, gradually merging into a diffuse tail with exponentially decaying power. We model the channel as a propagation graph in which vertices represent transmitters, receivers, and scatterers, while edges represent propagation conditions between vertices. The recursive structure of the graph accounts for the exponential power decay and the avalanche effect. We derive a closed form expression for the graph's transfer matrix. This expression is valid for any number of interactions and is straightforward to use in numerical simulations. We discuss an example where time dispersion occurs only due to propagation in between vertices. Numerical experiments reveal that the graph's recursive structure yields both an exponential power decay and an avalanche effect.

math-ph↗

arXiv2010

Analysis and Design of Binary Message-Passing Decoders

Binary message-passing decoders for low-density parity-check (LDPC) codes are studied by using extrinsic information transfer (EXIT) charts. The channel delivers hard or soft decisions and the variable node decoder performs all computations in the L-value domain. A hard decision channel results in the well-know Gallager B algorithm, and increasing the output alphabet from hard decisions to two bits yields a gain of more than 1.0 dB in the required signal to noise ratio when using optimized codes. The code optimization requires adapting the mixing property of EXIT functions to the case of binary message-passing decoders. Finally, it is shown that errors on cycles consisting only of degree two and three variable nodes cannot be corrected and a necessary and sufficient condition for the existence of a cycle-free subgraph is derived.

cs.IT↗