Long-distance propagation measurements of mobile radio channel over sea at 2 GHz
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1 Long-distance propagation measurements of mobile radio channel over sea at 2 GHz Kun Yang, Terje Røste, Fritz Bekkadal, Karsten Husby and Odd Trandem Department of Electronics and Telecommunications Norwegian University of Science and Technology, NO-7491 Trondheim, Norway {kuny, terje.roste}@iet.ntnu.no MARINTEK, Department of Maritime Transport Systems, NO-7052 Trondheim, Norway SINTEF, ICT, NO-7465, Trondheim, Norway Abstract A long-distance channel measurement campaign with a maximum distance of 45 km was performed in Trondheimsfjorden, Norway. In this paper, we give a detailed description of the channel measurements including route, RX and TX antenna sites and other channel parameters. The results of received signal level (RSL) obtained by using two different signal processing methods are demonstrated, and it is found that the influence of unwanted interference and noise becomes more than 2 db at distances beyond 20 km, which proves the necessity of employing an interference-reduction method. The inbound trip RSL is found to be larger ( 6 db)thanforthe outbound trip, which is assumed to be due to the inbound TX antenna resting on the furthermost edge of a large horizontal metal plane, which might act as a mirror to create its image. The path loss has been compared with the free-space model, the Okumura-Hata model, the COST 231-Hata model and the ITU-R P model, and it has been found that the ITU-R model for open cold sea corresponding to field-strength value exceeded at 50% of the locations fits the measurement results best. However, some important deep fadings visible in our measurements are not seen in these models. Finally, the channel spatial correlation coefficient between the two RX-antennas is found to be less than 0.7 beyond a distance of 3 km. The ship turning and shadowing effect caused by other ships might, however, reduce the spatial correlation between the two RX channels. I. INTRODUCTION Norway s economic zone mainly comprises an ocean area which is roughly six times its mainland area. Numerous activities in this area including oil exploitation, maritime transportation, fish farming and other activities make the maritime communications very important. The maritime user requirements being compiled by the MarCom project with information added from the EU-projects Flagship and EF- FORTS in [1] are illustrated in Fig. 1 from which it can be seen that most of the user needs can be fulfilled by utilizing a 10 Mbps data rate communication system. On the other hand, the present maritime digital communication systems are mainly satellite-based systems (SatCom systems) and wireless narrowband access (WNA). The SatCom systems are relatively costly, mainly due to satellite launching costs, expensive equipment and the usage rate charged by the service provider, while the WNA like Digital VHF with a maximum 21 kbps data service, and AIS with only 2 times 9.6 kbps data rate are far from the main user requirements. Consequently, a maritime communication system needs to be developed with the following characteristics: a) high data rate (more than 10 Mbps) and high bandwidth efficiency, b) low-cost deployment, c) long-range/wide area coverage from the coast. Fig. 1. Compiled user requirements. Currently the Mobile WIMAX system and LTE system possess the potential to fulfill the above requirements. However, both are originally developed for land mobile applications, including both urban and rural areas which are quite different from open sea environments. In addition, the system needs to have a long-range coverage to reach as far as possible out in the open sea. Therefore, whether LTE or WiMAX can perform optimally over sea with long-range coverage needs to be verified. First of all, it is crucial to know the characteristics of radio signal propagation over sea from land to e.g ship. As a result, a long-distance channel measurement campaign at GHz was performed in the Trondheimsfjorden to cover the lack of research in this field. In previous investigations, some channel measurements have been performed on fixed point-to-point links over sea at 2.4 GHz for a wireless LAN system [2] and at UHF bands for a terrestrial digital TV system [3], respectively. These channels are quite different from the mobile radio channels. The ITU- R Recommendation P [4] offers a method for point /11/$ IEEE
2 to-area predictions of field strength for the maritime mobile services in the frequency range 30 MHz to 3000 MHz, and for distances in the range 1 km to 1000 km, being intended for radio plannings. However, the fading phenomenons which can cause loss of communication is not taken into account. Measurement results on mobile wideband channels over sea including path loss results at short distances can be found in [5] for 1.9 GHz within 10 km and in [6] for GHz within 15.5 km. However, long-distance channel characteristics over sea has not been performed in any of these investigations. The rest of paper is organized as follows: In section II the measurement campaign is described briefly. In section III the path loss results from measurements using two different signal processing methods are given, and a comparison between the two methods is presented in order to show the influence of noise and unwanted reflections. Section IV is devoted to the analysis of the received signal level (RSL) difference between the outbound and inbound trip at the same distance. Further the difference in corresponding Delay-Doppler domain and Doppler frequency domain results are demonstrated as well. In section V the path loss measurement results are compared to four classical empirical models. Section VI addresses the spatial channel correlation using the correlation coefficient. Finally, conclusions are drawn in section VII. The influence due to tidal waves is not taken into consideration in this paper. II. THE MEASUREMENT CAMPAIGN The channel sounder measurement equipment comprising a transmitter (TX) and a receiver (RX) that was kindly provided by Telenor GBDR and modified by the SINTEF ICT, emits a 20 MHz chirp signal at 2.075GHz. Different Doppler frequency resolutions were used during the measurements and the results with 4 Hz and Hz Doppler resolution are shown in section IV. A detailed description of the channel sounder is given in [7]. The measurement campaign was set up for the long-distance close to the open sea environment. The receiver (RX) was installed on the shore at the Trondheimfjord and equipped with two vertically polarized sector antennas possessing 15 dbi gain and 66 beamwidth. The nominal height of the lower antenna above sea level, ignoring the tidal wave changes, is 11.2 m and the vertical spacing between the two RX antennas is 2.9 m (see Fig. 2(a)). The same type of sector antenna was mounted on the ship about 9.5 m above sea level, at which the transmitter was located (see Fig. 2(b)). An Automatic Identification System (AIS) was utilized to record GPS data and vessel speed. Since the TX antenna is sectorial, the crew had to turn the antenna 180 when the ship changed its direction from the outbound trip (away from the RX) to the inbound trip (towards the RX), see Fig 3. Referring to Fig. 9(a) and Fig. 9(b) it can be seen that the TX antenna will see different environments in the two directions due to the ships structure. This will cause a RSL difference between the outbound and inbound trip. The ship was traveling along a 45 km route (shown in the Fig. 3) on the Trondheimsfjorden at a stable speed of 6 knots ( 3.1 m/s). The ellipsoid in Fig. 3 includes all the possible reflection paths within 50 ns delay TABLE I THE MEASUREMENT PARAMETERS Carrier frequency GHz Chirp bandwidth 20 MHz Transmitting power at the antenna port 27.2 dbm Maximum delay span µs Delay resolution 50 ns Doppler resolution 4, 0.5, 0.25, 0.125, Hz Maximum Doppler shift span ±128 Hz Number of TX antennas 1 Number of RX antennas 2 Antennas beamwidths 66 (Az.) 21 (El.)Approx TX antenna height 9.5 m Lower RX antenna height 11.2 m Spacing between RX antennas 2.9 m Maximum route distance 45 km Temperature [-1, 2] C Wind speed [3, 6] m/s File size 12.6 GB bin (same delay bin as the Line-Of-Sight), which will be the basis for the discussion in in Section IV. To summarize, the main measurement parameters can be found in the TABLE I. (a) Receiver (RX) antennas on the shore. Fig. 2. (b) Transmitter (TX) antenna at the ship. Receiver and transmitter antennas of the channel sounder Fig. 3. The route of the ship. III. PATH LOSS WITH AND WITHOUT INTERFERENCE-REDUCTION METHOD Path loss measurements together with fading statistics can be used for linkbudget analysis and radio coverage predictions.
3 In the maritime communication environment in the open sea, the radio channel will not change very fast. The most important factors are the sea waves impact on the radio waves reflected from the sea, and the movement of the ship (both the constant speed and the movements caused by the sea waves). To average the small-scale fading, 64 chirps within a 250 ms window (described in detail in [6]), is used. The difference in length between the Line-Of-Sight (LOS) and the ideal specular sea reflection path is shown in Fig. 4. It can be observed that for most of the trip this difference is within 15 m, and diminishes with increasing distance. The delay resolution of our equipment is 50 nsec. Therefore the difference in distance between the direct path (LOS) and the reflected path must be > 15m to be resolved. Thus the sea reflections and the LOS appear in the same delay bin. Accordingly the LOS and sea reflections are regarded as the relevant components in the open sea environment. However, the RSL measurements include noise and some reflections from the land and surrounding ships in Trondheimsfjorden, that we want to remove. Therefore, an interference-reduction Method (IRM) method is introduced to reduce the unwanted components. As is shown in Fig. 5, a rectangular filter is introduced in the Delay-Doppler domain, and the size of the rectangle is determined by the ship speed and the Doppler shift distribution around the LOS. The RSL subjected to the IRM is compared to the RSL without IRM processing, which is shown in Fig. 6. It should be mentioned that antenna 1 is the lower RX antenna and antenna 2 is the higher RX antenna. The 2.9 m antenna spacing caused about 3-4 db difference in the RSL of the two antennas. It can be observed that the RSL difference with and without the IRM for the same RX antenna signal, will become larger with increasing distance, and the difference begins to become more than 2 db beyond 20 km. In addition, it can be seen that the RSL without IRM becomes flat beyond 35 km (-94 db for antenna 1 and -92 db for antenna 2), which means that the noise starts to dominate the RSL. This proves the necessity and efficiency of the IRM. Fig. 4. Distance difference between the LOS and sea reflection path. IV. PATH LOSS FOR OUTBOUND AND INBOUND TRIP As mentioned in section II, due to the impact of the ship structure, the propagation will be different for the two trip Fig. 5. domain. Received signal level in dbm 20 The interference-reduction method (IRM) in the delay-doppler Antenna 1 with IRM Antenna 2 with IRM Antenna 1 without IRM Antenna 2 without IRM Fig. 6. Comparison of the RSL with and without interference-reduction method applied, outbound trip. directions. We have studied the influence, because this will be important for a practical system design. By using interferencereduction method for the two trip directions, the RSL obtained is shown in Fig. 7. From this it is seen that there is noiselike RSL for the inbound trip when the distance is beyond 35 km, which is due to the boat heading changing and antenna turning. In addition, it is found that the inbound RSL is higher than the outbound RSL when the distance is below 35 km. A detailed analysis of the Delay-Doppler spectrum is done at a distance of 20.4 km, where the inbound RSL results for antenna 1 and antenna 2 are about 4.8 db and 5.9 db higher than the outbound RSL, respectively. The Power Delay Profiles (PDP) at 20.4 km originating from antenna 2 for the double-trip are illustrated in Fig.8(a) and Fig.8(b), where it can be seen that the 5.9 db difference is exactly the power difference between the two main components in Fig.8(a) and Fig.8(b). It means that all the signal power confined to the same delay bin as the LOS component can contribute the 5.9 db difference. As it is known that the delay resolution is 50 nsec corresponding to 15m, all the contributing signals can only appear within the ellipsoid area (corresponding to path difference below 15 m compared to the LOS) shown in Fig. 3. Among the contributing signals, the RSL of the LOS and the sea reflections can not cause the big RSL difference because it is mainly decided by the
4 Received signal level in dbm 20 distance at 20.4 km outbound trip for antenna 1 outbound trip for antenna 2 inbound trip for antenna 1 inbound trip for antenna 2 (a) The TX antenna view for the outbound trip. (b) The TX antenna view for the inbound trip Fig. 9. The TX antenna views for the double-trip Fig. 7. The RSL comparison between the outbound trip and inbound trip using the IRM. Power in dbm Outbound trip Time in μs (a) The Power Delay Profile for the outbound trip. Fig. 8. Power in dbm Inbound trip Time in μs (b) The Power Delay Profile for the inbound trip. The Power Delay Profiles for the double-trip at 20.4 km where the L cable is the loss of the cable from the RX antenna to the LNA of the RX equipment. The other parameters can be found in TABLE I. The Fig. 10 shows that the measurement results fit best with ITU-R P model corresponding to field-strength values exceeded at 50% of the locations (or time). However, the deep fadings due to (semi-)specular sea reflection at shorter distances can not be found in the ITU-R model. The Okumura-Hata model and the COST 231-Hata model, which are developed mainly for densely populated urban environments show more than 30 db offset from the measurement results. This is a clear evidence that propagation conditions over sea are different from on land. TX-RX distance when the antenna heights are the same and the weather conditions are stable. As it was mentioned that the sector TX antenna was installed on the boat, the process of turning the TX antenna and changing boat heading not only resulted in the large propagation loss shown in Fig.7 at the distance between 35 to 45 km for the inbound trip but also changed the TX antenna surroundings. The TX antenna views for outbound and inbound trip are shown in Fig.9(a) and Fig.9(b), respectively, where it can be seen that there is no obstruction in front of the outbound TX antenna. However, the inbound TX antenna is surrounded by metallic objects. In particular it is resting on the furthermost edge of a large horizontal metal plane, which might act as a mirror to create its image, and thus cater for the 6 db RSL difference. An exact conclusion on this requires dedicated measurements not yet available. However, the results clearly demonstrate what may happen in a situation with practical ship-to-land mobile radio communication. V. PATH LOSS COMPARISON WITH CLASSIC MODELS According to the previous section we focus on the outbound RLS and use these results for comparison with the classic empirical models like the free-space model, Okumura-Hata model, the COST 231-Hata model and the ITU-R P model (see Fig. 10). The measured path loss is calculated from the transmitted and received power as follows: L path = P TX + G TX P RX + G RX L cable (1) Transmission loss in db Fig ITU R(50%) ITU R(10%) ITU R(1%) Mea ant2 Free space loss Oka hata Cost hata Comparison between our measurements and four empirical models VI. SPATIAL CORRELATION Multi-antenna techniques are used to exploit the channel spatial diversity gain, and the channel spatial correlation properties. The spatial correlation function eqn 2, defines the efficiency of using antenna diversity. The correlation between the two RX antenna s outbound RSL shown in Fig. 6 is obtained by using the correlation coefficient given by [9]: E{x.y} E{x}E{y} P xy = (E{x 2 } E{x} 2 )(E{y 2 } E{y} 2 ) where x and y represent the RSL from the two different RX antennas, respectively. A 200 m averaging window is used to calculate the correlation coefficient along the route. (2)
5 The result in Fig. 11 shows that the correlation coefficient is above 0.7 when the distance is beyond 4 km, showing that the two channels are highly correlated. On the other hand the correlation coefficient is in the range [ 0.15, 0.7 ] when the distance is below 3 km, suggesting that it is efficient to employ multi-antenna techniques for short-distance maritime communication systems, when antennas are installed similar to this experiment. In addition, the two RX channels are uncorrelated in the ranges [ 12, 13 ] km, [ 20, 25 ] km and [ 32, 33 ] km. According to Fig. 7, there are deep fadings in the range [ 12, 13 ] km and [ 20, 25 ] km, caused by the shadowing effect of the passing-by ships, and the ship changed the heading in the range [ 32, 33 ] km. Therefore, the ship turning and shadowing effect caused by other ships can reduce the spatial correlation between the two RX channels. Correlation coefficient Correlation coefficient 0.7 threshold Fig. 11. Correlation coefficient derived from the outbound trip measurements. VII. CONCLUSIONS A channel measurement campaign within a total distance of 45 km has been carried out for open sea environments in the Trondheimsfjorden, Norway. The antennas on land were placed close to the sea to investigate the impact of the earth curvature. The measurement set-up, environments, antenna characteristics and channel sounder parameters have been explained. An interference-reduction method is implemented to process the path loss results, which has been compared with the results without interference-reduction. It is shown that at lengths beyond 20 km it is necessary to employ interferencereduction to have reliable measurement results. The path loss results for both the outbound and the inbound trip are compared, showing the inbound RSL to be higher than the outbound RSL. The difference in RSL of 5-6dB between the outbound trip and the inbound trip has been discussed and is most likely caused by the difference in the antenna view of the two directions due to the ships construction. This demonstrates the importance of the need for efficient antenna design and efficient strategy for placement of the antenna on a ship in such radio communications. The path loss results are compared to four classic propagation models, and it is found that the outbound RSL matches the ITU-R P 1546 model with the 50% location time. However, the deep fadings at short distances are not predicted by the ITU-R model. Spatial diversity can be efficiently exploited to combat fading within 3 km distance, since the spatial correlation coefficient is within [ 0.15, 0.7 ]. If the on-shore antennas were mounted higher above the sea level, the correlation might change making spatial diversity efficient at longer ranges. Moreover, the ship turning and shadowing effect caused by other ships can reduce the spatial correlation between the two RX channels and diversity can be more efficiently exploited in this case. This result is valid for the antenna distance as in this campaign. ACKNOWLEDGEMENT We acknowledge Per Hjalmar Lehne at Telenor GBDR for his support with the channel sounder equipment that Telenor so kindly lent us. Further the practical support by Terje Mathiesen, NTNU and Torgrim Gjelsvik at Sintef ICT, is highly appreciated for the practical part of the measurements that has been successfully performed. REFERENCES [1] Rødseth. Ø. J, Kvamstad. B, The role of communication technology in e-navigation, Draft MARINTEK Report, V07, [2] N. Fuke, K. Sugiyama, and H. shinonaga, Long-range oversea wireless network using 2.4 GHz wireless LAN installation and performance, proc. The 12th International Conference on Computer Communications and Networks, IEEE ICCCN 2003, pp , [3] M. Nishi, T. Iwami, S. Takahashi and T. Yoshida, Measurements on UHF radio propagation over the Seto Inland Sea, Microwave Conference, APMC Asia-Pacific, pp , [4] ITU-R Recommendation P , Method for point-toarea predictions for terrestrial services in the frequency range 30 MHz to 3000 MHz, Sep [5] K. N. Maliatsos, P. Loulis, M. Chronopoulos, P. Constantinou, P. Dallas and, M. Ikonomou, Measurements and Wideband Channel Characterization for Over-the-sea Propagation, in IEEE International Conference on Wireless and Mobile Computing, Networking and Communications, WiMob Montreal, Canada, Jun [6] K. Yang, T. Røste, F. Bekkadal and T. Ekman, Channel characterization including path loss and Doppler effects with sea reflections for mobile radio propagation over sea at 2 GHz, in IEEE International Conference on Wireless Communications and Signal Processing, WCSP Suzhou, China, Oct [7] K. Yang, T. Røste, F. Bekkadal and T. Ekman, Land-to-ship radio channel measurements over sea at 2 GHz, in IEEE International Conference on Wireless Communications, Networking and Mobile Computing, WICOM2010. Chengdu, China, Sep [8] Mobile WiMAX C Part I: A Technical Overview and Performance Evaluation, WiMAX Forum, [9] A. F. Molisch, Wirless Communications.. John Wiley & Sons, 2007.
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