An efficient convex constrained weighted least squares source localization algorithm based on TDOA measurements

对于静态目标, 常见的无源定位机制是通过测量目标发射的信号到各观测平台的到达时间差 (time difference of arrival, TDOA) [10∼12] 来进行定位. 基于 TDOA 的无源目标定位已成为近年来国内外研究的热点问题 [13∼20]. 通常, 基于 TDOA 观测的目标定位需要多个观测平台协作完成 [12]. 如果 TDOA 能被准确测量, 可通过计算到达时间差双曲线的交点估计目标位置 [11]. 然而在实际应用中, TDOA 观测往往含有随机噪声, 这种情况下基于 TDOA 观测的目标定位方法可大致分为两类: 极大似然法 [7, 14, 15] 和伪最小二乘法 [13, 18∼20]. 其中, 基于极大似然法的目标定位问题是一个非凸优化问题, 现有研究通过 SDR (semidefinite relaxation) 松弛方法近似求解. 伪最小二乘方法中最典型的是两步加权最小二乘法 [13]. 该方法通过引入辅助变量将非线性 TDOA 测量方程转化为伪线性测量方程, 首先忽略辅助变量和目标位置之间的非线性关系, 通过加权最小二乘 (weighted least squares, WLS) 方法得到目标位置和辅助变量的初步估计, 然后利用目标位置与辅助变量之间的非线性关系进行第 2 步的修正. 约束加权最小二乘 (constrained weighted least squares, CWLS) 法 [17, 18] 直接将目标位置与辅助变量之间的关系作为非线性约束引入到 WLS 的优化问题中, 能有效改进目标定位的精度. 然而,

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“…通过选取初始权矩阵 W 0 = I, 得到 CWLS 多目标定位迭代算法的初值: Algorithm process: (20) and 21, and then update P k = P (û k ) following (24) and 25…”

Section: Cwls 多目标定位近似迭代算法mentioning

confidence: 99%

“…考虑一个病态的多目标定位场景, 即无人机的位置构成一个均匀圆阵 (uniform circular array, UCA) 的几何结构 [18] . 文献 [20] 分析了两步 WLS 方法在 UCA 结构中目标定位发散的主要原因在于需求解一些病态矩阵的逆矩阵. 下面通过 Monte Carlo 数值模拟实验来考察本文提出的 CWLS…”

Section: 模拟实验二unclassified

Multi-source passive localization via multiple unmanned aerial vehicles

Liu

Tan

2019

Sci. Sin.-Inf.

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“…The extended Kalman filter (EKF) algorithm is adopted in this stage. The mixed state estimate and the predicted covariance corresponding to CV and CT in (15) and (16) are updated by the following two stages.…”

Section: Vessel Position Predicting Based On Imm Algorithmmentioning

confidence: 99%

“…There is a lot of research on the application of TDOA to improve the positioning accuracy of the stationary target and to locate the moving target by using frequency measurements [13][14][15]. In addition, the positioning methods combining two kinds of measurements such as TDOA/FDOA and TDOA/DOA are also widely discussed [16,17].…”

Section: Introductionmentioning

confidence: 99%

A Vessel Positioning Algorithm Based on Satellite Automatic Identification System

Wang

Meng

et al. 2017

Journal of Electrical and Computer Engineering

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Vessels can obtain high precision positioning by using the global navigation satellite system (GNSS), but when the ship borne GNSS receiver fails, the existence of an alternative positioning system is important for the navigation safety of vessel. In this paper, a localization method based on the signals transmitted by satellite-based automatic identification system (AIS) is proposed for vessel in GNSS-denied environments. In the proposed method, the positioning model is a modification on the basis of time difference and frequency difference of arrival measurements by introducing an additional measurement, and the measurement is obtained through the interactive multiple model algorithm. The performance of the proposed strategy is evaluated through simulations, and the results validate the feasibility and reliability of vessel localization based on satellite-based AIS.

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“…Various reformulations of these using weighted least squares, linear correction least squares, constrained least squares. convex constrained least squares [9], total weighted least squares [10] and weight constrained total least squares [11] have been analyzed. Direct methods are believed to be more robust to noise and reverberation [4].…”

Section: Introductionmentioning

confidence: 99%

Impact of Microphone Array Configurations on Robust Indirect 3d Acoustic Source Localization

Vargas

Brown

Subr

2018

2018 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)

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Acoustic source localization (ASL) is an important problem. Despite much attention over the past few decades, rapid and robust ASL still remains elusive. A popular approach is to use a circular array of microphones to record the acoustic signal followed by some form of optimization to deduce the most likely location of the source. In this paper, we study the impact of the configuration of microphones on the accuracy of localization. We perform experiments using simulation as well as real measurements using a 72−microphone acoustic camera which confirm that circular configurations lead to higher localization error, than spiral and wheel configurations when considering large regions of space. Moreover, the configuration of choice is intricately tied to the optimization scheme. We show that direct optimization of well known formulations for ASL yield errors similar to the state of the art (steered response power) with 6× less computation.

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An efficient convex constrained weighted least squares source localization algorithm based on TDOA measurements

Cited by 91 publications

References 25 publications

Multi-source passive localization via multiple unmanned aerial vehicles

Multi-source passive localization via multiple unmanned aerial vehicles

A Vessel Positioning Algorithm Based on Satellite Automatic Identification System

Impact of Microphone Array Configurations on Robust Indirect 3d Acoustic Source Localization

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