Abstract
The joint localization method of TDOA and FDOA is widely used because it can estimate the underwater moving source well. Usually, a two-step weighted least squares (TSWLS) algorithm is used to estimate the source. However, the noise square term is always neglected in the TSWLS algorithm. In order to improve this situation, an improved TSWLS algorithm is proposed under the circumstance of sensor position inaccuracy. First, a new localization equation is constructed by the time difference equation, and the source position and velocity are initially estimated. The intermediate variables are then Taylor expanded and inserted into the localization equation of the algorithm's first step to modify the initial estimate value. Finally, the source's precise position and velocity are determined, and the proposed method was demonstrated to achieve the Cramer–Rao lower bound (CRLB) accuracy through simulations.
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