基于 TDOAs 与 FDOAs 的多信号源及感知节点联合定位算法

摘要

In the presence of sensor position and velocity errors,this paper considers the problem of simultaneously locating multiple disjoint sources and refining erroneous of sensor positions and velocities using time differences of arrival (TDOA)and fre-quency differences of arrival (FDOA).The previous work by Sun and Ho to solve this problem provided an efficient estimator for multiple disjoint sources,but it cannot provide optimum accuracy for the sensor positions and sensor velocities.In many practical ap-plications,it’s necessary and helpful to refine sensor locations and velocities while localizing multiple sources.The proposed method improves the previous method so that both the source and the sensor position and velocity estimates can achieve the Cramér-Rao lower bound (CRLB)accuracy very well over small noise region.The theoretical derivation is corroborated by simulations.%感知节点存在位置误差与速度误差的情况下，本文采用信号到达时间差（TDOAs）与到达频率差（FDOAs）信息，针对多信号源被动定位与感知节点进行位置及速度的同步优化问题进行了研究。在 Sun 和 Ho 前期工作中，只对多个不相关信号源进行了定位，并没有同时给出感知节点位置及速度的优化解，在很多实际应用中，对多个信号源进行被动定位的同时需要对感知节点的位置及速度信息进行优化；本文所提出的算法对前期算法进行了提升，被定位信号源与感知节点的位置及速度可同时较好地达到克拉美罗下界（CRLB）；计算机仿真对本文理论推导进行了验证。