TOAs/FOAs Cooperative Localization Method for Multiple Disjoint Moving Emitters in Presence of Imperfect Synchronization Between Receivers and Transmitters

WANG Ding; YIN Jie-xin; ZHENG Na-e; YANG Bin

doi:10.12263/DZXB.20230524

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TOAs/FOAs Cooperative Localization Method for Multiple Disjoint Moving Emitters in Presence of Imperfect Synchronization Between Receivers and Transmitters

PAPERS | 更新时间：2025-12-11

- TOAs/FOAs Cooperative Localization Method for Multiple Disjoint Moving Emitters in Presence of Imperfect Synchronization Between Receivers and Transmitters
- ACTA ELECTRONICA SINICA Vol. 52, Issue 2, Pages: 550-563(2024)
- 作者机构：
  
  1.中国人民解放军战略支援部队信息工程大学信息系统工程学院，河南郑州 450001
  2.中国人民解放军战略支援部队信息工程大学数据与目标工程学院，河南郑州 450001
  3.国家数字交换系统工程技术研究中心，河南郑州 450002
- 作者简介：
- 基金信息：
  
  National Natural Science Foundation of China(62171469;62071029);Independent research project for high-level scientific and technological innovation talents of the Science and Technology Commission of the Military Commission(a6102)
- DOI：10.12263/DZXB.20230524
  CLC： TN911.7
- Received：08 June 2023，
  
  Revised：2023-10-24，
  
  Published：25 February 2024
- 稿件说明：
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王鼎,尹洁昕,郑娜娥等.收发未精确同步条件下非相关多运动辐射源TOAs/FOAs协同定位方法[J].电子学报,2024,52(02):550-563.

WANG Ding,YIN Jie-xin,ZHENG Na-e,et al.TOAs/FOAs Cooperative Localization Method for Multiple Disjoint Moving Emitters in Presence of Imperfect Synchronization Between Receivers and Transmitters[J].ACTA ELECTRONICA SINICA,2024,52(02):550-563.
王鼎,尹洁昕,郑娜娥等.收发未精确同步条件下非相关多运动辐射源TOAs/FOAs协同定位方法[J].电子学报,2024,52(02):550-563. DOI： 10.12263/DZXB.20230524.

WANG Ding,YIN Jie-xin,ZHENG Na-e,et al.TOAs/FOAs Cooperative Localization Method for Multiple Disjoint Moving Emitters in Presence of Imperfect Synchronization Between Receivers and Transmitters[J].ACTA ELECTRONICA SINICA,2024,52(02):550-563. DOI： 10.12263/DZXB.20230524.

摘要

在联合到达时间/到达频率的无线定位体制中，除了TOAs/FOAs（Time-Of-Arrivals/Frequency-Of-Arrivals）估计误差与传感器位置/速度先验观测误差以外，收发两端的传感器时钟同步误差也是影响定位精度的重要因素.为了抑制时钟同步误差和各类观测误差的影响，本文针对非相关多运动辐射源定位场景，提出一种基于加权多维标度分析的TOAs/FOAs多辐射源协同定位方法.文中首先通过构造两组标量积矩阵推导定位关系式，然后基于一阶误差分析方法得到该关系式中的误差渐近统计特性，并进而构建联合定位与时钟同步误差校正的优化准则.针对此优化模型，本文提出一种基于正交投影矩阵数学性质的参数解耦合优化算法，可实现对多运动辐射源位置/速度参数与同步误差参数的分步估计，显著降低了参与优化迭代的变量维数.此外，文中还在收发未精确同步条件下推导TOAs/FOAs多辐射源协同定位模型的克拉美罗界，定量证明多辐射源协同定位可以带来性能增益，并且利用一阶误差分析以及正交投影矩阵数学性质证明新方法的渐近统计最优性.仿真实验结果验证所提出的协同定位方法的优越性.

Abstract

In the wireless positioning system using time-of-arrivals (TOAs) and frequency-of-arrivals (FOAs) measurements

in addition to TOAs/FOAs estimation errors and sensor position/velocity prior observation errors

sensor clock synchronization error between receivers and transmitters is a key factor affecting positioning accuracy. In order to restrain the effects of clock synchronization errors and various types of observation errors

a novel multi-source cooperative positioning method using TOAs/FOAs based on weighted multidimensional scaling analysis is proposed for the localization of multiple disjoint moving emitters. Firstly

this paper deduces the positioning relationship by constructing two sets of scalar product matrices. Then

the asymptotically statistical characteristics of the errors in the positioning relationship are obtained using a first-order error analysis approach. Subsequently

an optimization criterion for joint synchronization and localization is established. In order to obtain the global optimal solution

a parameter decoupling optimization algorithm is presented using the mathematical properties of orthogonal projection matrix. The algorithm can sequentially estimate the position/velocity parameters of the multiple moving emitters and the parameters of synchronization errors

thus significantly reducing the number of variables involved in the optimization iteration. Furthermore

the Cramér-Rao bound (CRB) for the multi-source cooperative localization model using TOAs/FOAs in the presence of imperfect synchronization between receivers and transmitters is derived. We also formally prove that the performance gain can be obtained from multi-source cooperative positioning. Additionally

the new estimator is proved to be asymptotically statistically efficient using the first-order error analysis method and the mathematical properties of orthogonal projection matrix. Simulation results demonstrate the superiority of the proposed cooperative localization method.

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references

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