基于到达角Kalman滤波的TDOA/AOA定位算法

基于Chan算法的TDOA/AOA定位算法是在Chan算法的信号到达时间差(TDOA)误差方程组里加上一个信号到达角(AOA)误差方程，利用加权最小二乘法(WLS)求解。其主要缺点是把移动台(MS)的横坐标、纵坐标与移动台到服务基站(BS)之间的距离作为3个相互独立的变量，忽略了3者之间的相关性。需要进行两次WLS计算，且最终的解为二值根。当AOA测量误差的方差不断增大时，对应的定位误差也随之增大。该文利用Kalman滤波算法对AOA的值进行估计，并将上述的3个变量简化为一个，只需一次WLS即可求得唯一解，减少了计算量，消除了根的模糊性。仿真结果表明，该方法简单，计算量小，有较高的定位精度和较好的稳健性。

A TDOA/AOA Location Algorithm Based on Kalman Filtering Angle of Arrival

The TDOA/AOA location algorithms based on the Chan’s algorithm add an AOA error equation on the group of TDOA error equations in the Chan’s algorithm and resolve these equations by the WLS method. But they assume the abscissa, the ordinate of the MS and the distance between the MS and the severing BS are three independent variables neglecting their correlation. And then operate the WLS method twice with each root has two values. The location error increases according with the increment of the variance of the measurement error of AOA. The proposed algorithm estimates AOA by Kalman filter and simplifies the mentioned three variables into one. So it can get the only root by using the WLS method once and eliminate the ambiguity. The result of simulation proves its simplification, less calculating amount, better location accuracy and robustness.