Chan
绠楁硶鍙婂叾楠岃瘉
鐢变簬瀹為檯鏉′欢锛?/p>
浠?/p>
TOA
寰楀嚭娴嬮噺鍊煎纭欢瑕佹眰寰堥珮锛?/p>
闅句互瀹炵幇銆?/p>
鎵�浠ユ垜浠敱
TDOA
鏉ュ緱鍑虹畻娉曟墍闇�鐨勬祴閲忓�笺�?/p>
瀹為檯涓紝
鍩虹珯鏍规嵁鎺ュ彈鍒扮殑淇″彿闅句互寰楀埌绉诲姩鐐瑰埌鍩虹珯鐨勫叿浣撹窛绂伙紝
鍒?/p>
TDOA
瀹氫綅鏄帴鏀剁Щ鍔ㄥ彴鍙戝嚭鐨勪俊鍙峰埌杈句笉鍚屽熀绔欑殑鏃堕棿宸?/p>
,
鐢辨璁＄畻鍑虹Щ鍔ㄥ彴鍒板熀绔?/p>
闂寸殑璺濈涔嬪樊銆傛牴鎹Щ鍔ㄥ彴鍒颁袱涓熀绔欑殑璺濈宸兘寤虹珛鍞竴鐨勪竴鏉″弻鏇茬嚎
,
鏍规嵁
鑷冲皯
3
涓熀绔欏缓绔嬬殑鍙屾洸绾挎柟绋嬬粍姹傝В姹備氦鐐规潵寰楀埌绉诲姩鍙扮殑鍧愭爣銆?/p>
鑰屽疄闄呬腑鐢?/p>
浜庣绉嶈宸紝
瀹屽叏涓�鑷寸殑浜ょ偣鏄笉瀛樺湪鐨勶紝
闇�瑕佽緝澶氱殑鍩虹珯寰楀埌瓒呰繃鏈煡閲忔暟鐩?/p>
锛?/p>
2
锛夌殑鏂圭▼缁勫緱鍒版洿澶氱殑鍐椾綑淇℃伅锛屾潵瀹炵幇鏇村噯纭殑瀹氫綅銆?/p>
Chan
绠楁硶鍒欐槸涓�绉?/p>
澶勭悊
TDOA
娴嬮噺鍊煎緱鍒颁及璁＄偣鐨勫彲琛岀殑鏂规硶銆?/p>
Chan
绠楁硶鏄潪閫掑綊鍙屾洸绾挎柟绋嬬粍瑙ｆ硶
,
鍏锋湁瑙ｆ瀽琛ㄨ揪寮忚В銆傚叾涓昏鐨勭壒鐐逛负
鍦ㄦ祴閲忚宸湇浠庣悊鎯抽珮鏂垎甯冩椂
,
瀹冪殑瀹氫綅绮惧害楂樸�佽绠楅噺灏?/p>
,
骞朵笖鍙互閫氳繃澧炲姞
鍩虹珯鏁伴噺鏉ユ彁楂樼畻娉曠簿搴︺�?/p>
璇ョ畻娉曠殑鎺ㄥ鐨勫墠鎻愭槸鍩轰簬娴嬮噺璇樊涓洪浂鍧囧�奸珮鏂殢
鏈哄彉閲?/p>
,
瀵逛簬瀹為檯鐜涓宸緝澶х殑娴嬮噺鍊?/p>
,
姣斿鍦ㄦ湁闈炶璺濊宸殑鐜涓?/p>
,
璇ョ畻
娉曠殑鎬ц兘浼氭湁鏄捐憲涓嬮檷銆?/p>
Chan
绠楁硶鍙垎涓哄彧鏈変笁涓?/p>
BS
鍙備笌瀹氫綅鍜屼笁涓互涓?/p>
BS
瀹氫綅涓ょ銆傝�屽疄闄呬腑寰�寰�閲囩敤涓変釜浠ヤ笂
BS
瀹氫綅銆?/p>
褰撳熀绔欑殑鏁伴噺澶т簬
3
鏃?/p>
,TDOA
鍊煎緱鍒扮殑闈炵嚎鎬ф柟绋嬬粍涓暟瑕佸浜庢湭鐭ュ彉閲忕殑
涓暟
,
鐜板皢鍒濆鐨?/p>
TDOA
鏂圭▼缁勫寲涓虹嚎鎬ф柟绋嬬粍
,
鐒跺悗鐢ㄥ姞鏉冩渶灏忎簩涔樻硶寰楀埌鍒濆
瑙?/p>
,
鍐嶇敤绗竴娆＄殑鍒扮殑鍒濆瑙ｇ瓑绾︽潫鍙橀噺杩涜绗簩娆″姞鏉冩渶灏忎簩涔樹及璁?/p>
,
鏈�鍚庡緱鍒?/p>
鏀硅繘鐨勪綅缃及璁°�備互涓嬩负璇ュ鐞嗚繃绋嬬殑
matlab
璇彞濡備笅锛?/p>
%
璁＄畻绗竴娆?/p>
WLS
浼拌缁撴灉锛堣繙璺濈畻娉曪級
Za = inv(Ga.'*inv(Q)*Ga)*Ga.'*inv(Q)*ha
%
绗竴娆★挤锛汲璁＄畻锛堣繎璺濈畻娉曪級
Va2 = sqrt((Za2(1)-Pbs(2:N,1)).^2+(Za2(2)-Pbs(2:N,2)).^2)
Ba2 = diag(Va2);
Fa2 = Ba2*Q*Ba2;
Za2 = inv(Ga.'*inv(Fa2)*Ga)*Ga.'*inv(Fa2)*ha;
Zacov2 = inv(Ga.'*inv(Fa2)*Ga);
%
绗簩娆★挤锛汲璁＄畻锛堣繎璺濈畻娉曪級
hb =
[(Za2(1)-Xb)^2; (Za2(2)-Yb)^2; Za2(3)^2]
Gb = [1 0;0 1;1 1];
Bb2
=
[Za2(1)-Pbs(1,1)
0
0;0
Za2(2)-Pbs(1,2)
0;0
0
sqrt((Za2(1)-Pbs(1,1))^2+(Za2(2)-Pbs(1,2))^2)];
Fb2 = 4*Bb2*Zacov2*Bb2;
Zb2 = inv(Gb'*inv(Fb2 )*Gb)*Ga.'*inv(Fb2 )*hb;