Estimation of Location and Velocity Using Range and Doppler Measurements in a Multipath Environment by Taylor-series Estimation Method

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  • マルチパス環境下の距離とドップラーを観測値とするTaylor級数推定法による位置及び速度推定

Abstract

We reported that we can estimate 3-dimensional target location and velocity only using Doppler measurements. We also reported that we can estimate location, velocity and range bias errors using range with bias error due to the clock offset or multipath propagation effect and Doppler measurements. We proved that there is not difference between the two methods. This means that the range measurement does not influence the location and velocity estimate as long as we treat the range bias as an unknown. In this paper, we propose unknowns reduction method. In this method, we select range measurements with bias error using the range bias error estimate and its estimated variance. Then, we re-estimate location, velocity and selected range bias errors. We illustrate that estimation accuracy of location and velocity becomes better when the number of the range bias unknowns decreases.

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