The constrained-total-least-squares localization algorithm and performance analysis based on an external illuminator

Abstract

A passive location and tracking system that locates silent targets using an external illuminator is of great importance in a variety of applications. Based on the spatial-, time-, and frequency-domain measures of this system, a constrained total least squares(CTLS) localization theory and a method that takes into account observer location and velocity errors are proposed. First, four kinds of joint location mechanisms are summarized, and the algebraic processing method that transforms nonlinear measurement equations into pseudo-linear equalities was considered. Then, the CTLS optimization model was constructed for locating the target, and the Newton iteration algorithm to solve the optimization problem was derived. Subsequently, an analytical performance analysis was performed for the CTLS location algorithm including observer location and velocity errors;thus, a performance analysis frame was built. In addition, the CTLS location variance was mathematically proved to be able to reach the corresponding Cram′er-Rao lower bound(CRLB). Finally, some numerical experiments were devised to corroborate the advantage of the presented algorithm and the effectiveness of the theoretical analysis.