基于TDOA/GROA的多站连续定位模型的制作方法

技术特征：

1.基于TDOA/GROA的多站连续定位方法，其特征在于包括以下步骤：

步骤1：令k＝1，初始化变量协方差矩阵R；

步骤2：根据TDOA和GORA量测信息以及站址信息计算定位模型A_u(k)和误差项B₁(k)、B₂(k)和B₃(k)；

步骤3：若已经得到目标状态估计则计算加权矩阵W(k)，若目标状态估计未知，令加权矩阵W(k)为单位阵；

步骤4：计算和Ω，并通过对其广义特征值分解，得到最小广义特征值对应的广义特征值向量

步骤5：更新目标状态估计令k＝k+1，并从步骤2继续运行。

2.根据权利要求1所述的基于TDOA/GROA的多站连续定位方法，其特征在于步骤2采取以下技术措施：

初始化变量协方差矩阵R后，步骤2：根据TDOA和GORA量测信息以及站址信息计算定位模型A_u(k)

A_u(k)＝[-A(k) b(k)]

$A\left(k\right)={\left[\begin{array}{cc}{A}_t^T\left(k\right)& A_g^T\left(k\right)\end{array}\right]}^T$

$b\left(k\right)={\left[\begin{array}{cc}{b}_t^T\left(k\right)& b_g^T\left(k\right)\end{array}\right]}^T$

$\left\{\begin{array}{c}{A}_t\left(k\right)={\[{\mathrm{\α}}_{t,1}^T\left(k\right),{\mathrm{\α}}_{t,2}^T\left(k\right),\mathrm{...},{\mathrm{\α}}_{t,M-2}^T\left(k\right)\]}^T\\ {\mathrm{\α}}_{t,1}\left(k\right)=\[\begin{array}{cc}2r_{(i+2)1}\left(k\right)x_{21}\left(k\right)-2r_{21}\left(k\right)x_{(i+2)1}\left(k\right)& 2r_{(i+2)1}\left(k\right)y_{21}\left(k\right)-2r_{21}\left(k\right)y_{(i+2)1}\left(k\right)\end{array}\]\\ b_t\left(k\right)={\[{\mathrm{\β}}_{t,1}\left(k\right),{\mathrm{\β}}_{t,2}\left(k\right),\mathrm{...},{\mathrm{\β}}_{t,(M-2)}\left(k\right)\]}^T\\ {\mathrm{\β}}_{t,i}\left(k\right)=r_{(i+2)1}\left(k\right)\left(d_2^2\right(k)-d_1^2(k\left)\right)-r_{21}\left(k\right)\left(d_{i+2}^2\right(k)-d_1^2(k\left)\right)+{\left(r_{(i+2)1}\right(k\left)\right)}^2{r}_{21}\left(k\right)-{\left(r_{21}\right(k\left)\right)}^2{r}_{(i+2)1}\left(k\right)\\ x_{ij}\left(k\right)=x_i\left(k\right)-x_j\left(k\right),y_{ij}\left(k\right)=y_i\left(k\right)-y_j\left(k\right),(i,j=1,2,\mathrm{...},M;i\≠j)\end{array}\right.$

$\left\{\begin{array}{c}{A}_g\left(k\right)={\[{\mathrm{\α}}_{g,1}^T\left(k\right),{\mathrm{\α}}_{g,2}^T\left(k\right),\mathrm{...},{\mathrm{\α}}_{g,(M-2)}^T\left(k\right)\]}^T\\ {\mathrm{\α}}_{g,i}\left(k\right)={\left[\begin{array}{c}2\left(g_{(i+2)1}\right(k)-1)\left(g_{21}\right(k\left)x_1\right(k)-x_2(k\left)\right)\\ 2\left(g_{(i+2)1}\right(k)-1)\left(g_{21}\right(k\left)y_1\right(k)-y_2(k\left)\right)\end{array}\right]}^T\\ b_g\left(k\right)={\[{\mathrm{\β}}_{g,1}^T\left(k\right),{\mathrm{\β}}_{g,2}^T\left(k\right),\mathrm{...},{\mathrm{\β}}_{g,(M-2)}^T\left(k\right)\]}^T\\ {\mathrm{\β}}_{g,i}\left(k\right)=\left(g_{(i+2)1}\right(k)-1)\left(g_{21}\right(k\left)r_1^2\right(k)-r_2^2(k\left)\right)-\left(g_{21}\right(k)-1)\left(g_{(i+2)1}\right(k\left)r_1^2\right(k)-r_{i+2}^2(k\left)\right)\end{array}\right.$

其中：r_i1(k)和g_i1(k)分别为k时刻的RODA和GROA的实际测量值且i＝2,3,…,M，x_i和y_i为k时刻观测站位置且i＝1,2,…,M；

省略时间标签k，误差项B₁、B₂和B₃为

$\left\{\begin{array}{c}{B}_1=blkdiag(\left[\begin{array}{cc}{b}_1& -2x_{21}{I}_{M-2}\end{array}\right],\left[\begin{array}{cc}{b}_1& -2x_{21}{I}_{M-2}\end{array}\right]),b_1={\[2x_{31},2x_{41},\mathrm{...},2x_{M1}\]}^T\\ B_2=blkdiag(\left[\begin{array}{cc}{b}_2& -2y_{21}{I}_{M-2}\end{array}\right],\left[\begin{array}{cc}-b_2& 2y_{21}{I}_{M-2}\end{array}\right]),b_2={\[2y_{31},2y_{41},\mathrm{...},2y_{M1}\]}^T\\ B_3=blkdiag(\[b_{t1},b_{t2}\],\[b_g,(d_1^2-d_2^2)I_{M-2}\])\\ b_{t1}={\left[\begin{array}{cccc}{d}_1^2-d_3^2+{\stackrel{\‾}{r}}_{31}^2+2{\stackrel{\‾}{r}}_{21}{\stackrel{\‾}{r}}_{31}& d_1^2-d_4^2+{\stackrel{\‾}{r}}_{41}^2-2{\stackrel{\‾}{r}}_{21}{\stackrel{\‾}{r}}_{41}& \mathrm{...}& d_1^2-d_M^2+{\stackrel{\‾}{r}}_{M1}^2-2{\stackrel{\‾}{r}}_{21}{\stackrel{\‾}{r}}_{M1}\end{array}\right]}^T\\ b_{t2}=blkdiag(\[\begin{array}{cccc}{d}_2^2-d_1^2-{\stackrel{\‾}{r}}_{21}^2+2r_{31}{r}_{21}& d_2^2-d_1^2-{\stackrel{\‾}{r}}_{21}^2+2r_{41}{r}_{21}& \mathrm{...}& d_2^2-d_1^2-{\stackrel{\‾}{r}}_{21}^2+2r_{M1}{r}_{21}\end{array}\])\\ b_g={\left[\begin{array}{cccc}{d}_3^2-d_1^2& d_4^2-d_1^2& \mathrm{...}& d_M^2-d_1^2\end{array}\right]}^T\end{array}\right.$

其中：blkdaig(·)为分块对角矩阵，I_M-2为M-2阶单位矩阵，且i＝1,2,…,M。