Multistatic Moving Object Localization by a Moving Transmitter of Unknown Location and Offset

Abstract

This paper investigates the multistatic localization of a moving object in position and velocity using an uncoordinated moving transmitter of unknown position and velocity. The measurements are time delays and frequencies and each kind is subject to an unknown amount of offset. We have shown that incorporating the direct-path measurements between the transmitter and receivers to the indirect-path measurements from the transmitter through the object to the receivers improves the localization performance, although nuisance parameters including the transmitter position, velocity and offsets are required for estimation. The condition about the localization geometry that can eliminate the degradation due to the offsets is derived for IID Gaussian noise. Algebraic solution to localize the moving object is developed together with the performance analysis in reaching the Cramer-Rao Lower Bound accuracy under Gaussian noise over the small error region. The particular case of having time delay measurements only is examined and the optimal geometry for handling unknown transmitter position and time offset is devised. Simulations validate the theoretical developments.