基于复域超多维标度的混合TOA/AOA定位算法

针对全球卫星导航系统信号完全拒止环境下的定位问题，使用超宽带(UWB)技术获取测量信息，基于多维标度变换算法(MDS)提出一种复域下的混合测距信息(TOA)和测角信息(AOA)的超多维标度定位算法(TA-SMDS)，并进一步构建了复域内的核矩阵，提出复域下的超多维标度定位算法(TA-CDSMDS)。对比3种算法的定位结果，以及10°、15°、20°测角误差和不同测距误差下的定位误差，得TA-CDSMDS算法相较于TA-SMDS和MDS，有更小的定位误差，更贴近克拉美罗下界；分析不同节点下3种的计算时间，TA-CDSMDS算法在优化TA-SMDS的基础上减少28%~48%的时间，具有更好的定位性能。

Research on hybrid TOA/AOA location algorithm based on super multidimensional scale in complex domain

This paper uses ultra-wide-band (UWB) technology to obtain measurement information, based on the multi-dimensional scale (MDS) algorithm, a super multi-dimensional scale positioning algorithm (TA-SMDS) is proposed, which combines time of arrival (TOA) and angle of arrival (AOA) information, with the goal of solving the localization problem in the environment of the global satellite navigation system signal complete rejection. Based on the TA-SMDS algorithm, the kernel matrix in complex domain is further constructed, a super multi-dimensional scaling location algorithm in complex domain (TA-CDSMDS) is proposed. Comparing the positioning results of the three algorithms and the errors under the angular of 10°, 15°, and 20° as well as different ranging errors, it can be obtained that the TA-CDSMDS algorithm has smaller positioning errors and is closer to the CRLB than the TA-SMDS and MDS. Analyzing the calculation time of the algorithm under different nodes, the TA-CDSMDS algorithm reduces the time by 28% to 48% based on the optimized TA-SMDS, and has better localization performance.