未知信号传播速度下存在时钟同步和传感器误差的多基地定位算法  

Multistatic Localization Algorithm Under Unknown Signal Propagation Speed Scenario with Clock Synchronization and Sensor Position Errors

作　　者：孙霆 王威 陈鹏[1] 高婧洁 SUN Ting;WANG Wei;CHEN Peng;GAO Jin-jie(School of Information Engineering,Chang’an University,Xi’an,Shaanxi 710064,China)

机构地区：[1]长安大学信息工程学院,陕西西安710064

出　　处：《电子学报》2023年第8期2124-2133,共10页Acta Electronica Sinica

基　　金：陕西省创新能力支撑计划项目(No.2022TD-41);陕西省自然科学基础研究计划资助(No.2023-JCQN-0743);长安大学中央高校基本科研业务费专项资金资助(No.300102243101,No.300102243401)。

摘　　要：现有未知信号传播速度场景下的多基地定位算法在实际场景中受地形、遮挡等因素影响可能无法利用直接路径获取测量值.同时,这些算法引入了较多辅助变量,在相对较少数目发射站和接收站场景下也无法实现定位.为了弥补这些不足,本文对未知信号传播速度下存在时钟同步误差和传感器位置误差的多基地定位问题开展研究,并提出一种新的闭式算法.所提算法包含两个阶段,第一阶段利用发射站-目标-接收站这一间接路径的时延观测量,基于单一辅助变量构建矩阵方程,随后通过加权最小二乘技术给出初始解.第二步利用未知参数与单一额外变量的关系修正初始估计值,进一步提升定位精度.理论分析表明所提算法在适度的误差条件下可实现克拉美罗下界(Cramer Rao Lower Bound, CRLB),且在较少数目发射站和接收站场景下仍可实现目标位置和信号传播速度估计.仿真实验进一步验证了理论分析,同时表明所提算法定位精度优于现有算法.Existing multistatic localization algorithms with unknown signal propagation speed may not obtain measure⁃ments according to direct paths due to terrain and occlusion in general scenarios.These algorithms introduce additional vari⁃ables and cannot determine the target position when the number of transmitters and receivers is relatively small.To overcome these drawbacks,this paper investigates the multistatic localization problem under the unknown signal propagation speed sce⁃nario,considering clock synchronization and sensor position errors,and develops a novel closed-form solution.The proposed method consists of two steps:In the first stage,the delay observation measurement of the indirect path of transmitter-target-re⁃ceiver is used to construct the matrix equation based on a single auxiliary variable,and then the initial solution is given by the weighted least squares technique.In the second stage,the initial estimates are refined by exploiting the relationships between the extra variable and unknown parameters to improve localization accuracy.Theoretical analysis shows that the proposed method can achieve the CRLB(Cramer Rao Lower Bound)under moderate error conditions and can determine the target posi⁃tion and unknown signal propagation speed when the number of transmitters and receivers is small.Numerical simulations confirm the analytical results and show that the proposed method outperforms the state-of-the-art methods.

关 键 词：未知信号传播速度 多基地定位 时钟同步误差 传感器位置误差 闭式算法 克拉美罗下界 

分 类 号：TN971.5[电子电信—信号与信息处理]