Motion Parameter Estimation for Mobile Sources Using Semidefinite Programming

Abstract

In this paper, we address the motion parameter estimation problem using time difference of arrival (TDOA) measurements, where a mobile source starts from an initial position with constant velocity. The problem is formulated as three non-convex constrained weighted least squares (CWLS) problems. Owing to their non-convex nature, local convergence may occur when solving them by an iterative algorithm, implying good estimates are not guaranteed. We propose to solve these CWLS problems by applying semidefinite relaxation (SDR) to generate three different semidefinite programming (SDP) problems, namely, the motion unconstrained semidefinite programming (MU-SDP), motion constrained semidefinite programming (MC-SDP), and motion parameter direct semidefinite programming (MPD-SDP). The MU-SDP, MC-SDP, and MPD-SDP methods are then extended to the scenario of unknown propagation speed (PS), which is common in underwater and underground localizations. Specifically, for this scenario, the two-step MU-SDP, two-step MC-SDP, and two-step MPD-SDP methods are designed to keep the relaxed SDP problems tight by introducing the penalty function. Simulation results show that MU-SDP performs worse than MC-SDP and MPD-SDP owing to the ignorance of the motion equation, and MC-SDP and MPD-SDP are able to reach the Cramér-Rao lower bound (CRLB) accuracy.