Since the features of low energy consumption and limited power supply are very impor- tant for wireless sensor networks （WSNs）, the problems of distributed state estimation with quan- tized innovations are investiga...Since the features of low energy consumption and limited power supply are very impor- tant for wireless sensor networks （WSNs）, the problems of distributed state estimation with quan- tized innovations are investigated in this paper. In the first place, the assumptions of prior and posterior probability density function （PDF） with quantized innovations in the previous papers are analyzed. After that, an innovative Gaussian mixture estimator is proposed. On this basis, this paper presents a Gaussian mixture state estimation algorithm based on quantized innovations for WSNs. In order to evaluate and compare the performance of this kind of state estimation algo- rithms for WSNs, the posterior Cram6r-Rao lower bound （CRLB） with quantized innovations is put forward. Performance analysis and simulations show that the proposed Gaussian mixture state estimation algorithm is efficient than the others under the same number of quantization levels and the performance of these algorithms can be benchmarked by the theoretical lower bound.展开更多
The mobile channel is slow fading and time selective, thus the multiplicative and additive noise of the channel will smear the spectral line, or arouse Doppler spread. This spread will make the parameters estimation a...The mobile channel is slow fading and time selective, thus the multiplicative and additive noise of the channel will smear the spectral line, or arouse Doppler spread. This spread will make the parameters estimation accuracy degrade. The goal of this paper is to analytically assess this degradation when Carrier Frequency Offset (CFO) and Doppler shift exist jointly. Then the finite-sample Cramer-Rao Lower Bound (CRLB) is derived and close-form asymptotical expression is given for large-sample CRLB. These expressions give insights into the performance room for frequency estimation. Also the variance of Doppler shift estimator is simulated to illustrate the theoretical results.展开更多
This paper delves into the problem of optimal placement conditions for a group of agents collaboratively localizing a target using range-only or bearing-only measurements.The challenge in this study stems from the unc...This paper delves into the problem of optimal placement conditions for a group of agents collaboratively localizing a target using range-only or bearing-only measurements.The challenge in this study stems from the uncertainty associated with the positions of the agents,which may experience drift or disturbances during the target localization process.Initially,we derive the Cramer-Rao lower bound(CRLB)of the target position as the primary analytical metric.Subsequently,we establish the necessary and sufficient conditions for the optimal placement of agents.Based on these conditions,we analyze the maximal allowable agent position error for an expected mean squared error(MSE),providing valuable guidance for the selection of agent positioning sensors.The analytical findings are further validated through simulation experiments.展开更多
With the rapid development of commercial communications,the research on Radar-Communication Coexistence(RCC)systems is becoming a hot spot.The resource allocation techniques play a crucial role in the RCC systems.A pe...With the rapid development of commercial communications,the research on Radar-Communication Coexistence(RCC)systems is becoming a hot spot.The resource allocation techniques play a crucial role in the RCC systems.A performance-driven Joint Radar-target and Communication-user Assignment,along with Power and Subchannel Allocation(JRCAPSA)strategy,is proposed for an RCC network.The optimization model aims to minimize the sum of weighted Bayesian Cramer-Rao Lower Bounds(BCRLBs)of target state estimates for radar purpose.This is subject to constraints such as the Communication Data Rate(CDR)for communication purpose,the total power budget in each RCC system,assignment relationships,and the number of available subchannels.Considering that such a problem falls into the realm of Mixed Integer Programming(MIP),a Three-stage Iteratively Augment-based Optimization Method(TIAOM)is developed.The Communication-User Assignment(CUA),Communication Subchannel Allocation(SCA),and Radar-Target Assignment(RTA)feasible solution domains are iteratively expanded based on their importance,leading to the efficient acquisition of a suboptimal solution.Simulation results show the outperformance of the proposed JRCAPSA strategy,compared to the other benchmarks and the OPTI toolbox.The results also imply that the Bayesian Cramer-Rao Lower Bound(BCRLB)is a more stringent optimization metric for the achieved Mean Square Error(MSE),compared to Mutual Information(MI)and Signal-to-Interference-Noise Ratio(SINR).展开更多
The muitipath signal resolution is reviewed in this paper.The problemsexisted and to be studied are pointed out.Theoretical analysis of the performance ofthe resolution for deterministic signal in the cases where the ...The muitipath signal resolution is reviewed in this paper.The problemsexisted and to be studied are pointed out.Theoretical analysis of the performance ofthe resolution for deterministic signal in the cases where the signal known or unknownis made.Their corresponding Cramer-Rao lower bounds(CRLB)are obtained.展开更多
To improve the resolution and accuracy of Direct Position Determination(DPD),this paper investigates the problem of positioning multiple emitters directly with a single moving Rotating Linear Array(RLA).Firstly,the ge...To improve the resolution and accuracy of Direct Position Determination(DPD),this paper investigates the problem of positioning multiple emitters directly with a single moving Rotating Linear Array(RLA).Firstly,the geometry of the RLA is formulated and analysed.According to its geometry,the intercepted noncoherent signals in multiple interception intervals are modeled.Correspondingly,the Multiple SIgnal Classification(MUSIC)based noncoherent DPD approach is proposed.Secondly,the synchronous coherent pulse signals are individually considered and formulated.And the coherent DPD approach which aims for localizing this special type of signal is presented by stacking all array responses at different interception intervals.Besides,we also derive the constrained Cramer-Rao Lower Bound(CRLB)expression for both noncoherent and coherent DPD with RLA under the constraint that the altitudes of the emitters are known.At last,computer simulations are included to examine the performance of the proposed approach.The results demonstrate that the localization accuracy and resolution of DPD with single moving linear array can be significantly improved by the array rotation.In addition,coherent DPD with RLA further improves the resolution and increases the maximum emitter number that can be localized compared with the noncoherent DPD with RLA.展开更多
The localization of a stationary transmitter using moving receivers is considered. The original Direct Position Determination （DPD） methods, with combined Time Difference of Arrival （TDOA） and Frequency Difference...The localization of a stationary transmitter using moving receivers is considered. The original Direct Position Determination （DPD） methods, with combined Time Difference of Arrival （TDOA） and Frequency Difference of Arrival （FDOA）, do not perform well under low Signal-to-Noise Ratio （SNR）, and worse still, the computation cost is difficult to accept when the computational capabilities are limited. To get better positioning performance, we present a new DPD algorithm that proves to be more computationally efficient and more precise for weak signals than the conventional approach. The algorithm partitions the signal received with the same receiver into multiple non-overlapping short-time signal segments, and then uses the TDOA, the FDOA and the coherency among the short-time signals to locate the target. The fast maximum likelihood estimation, one iterative method based on particle filter, is designed to solve the problem of high computation load. A secondary but important result is a derivation of closed-form expressions of the Cramer-Rao Lower Bound （CRLB）. The simulation results show that the algorithm proposed in this paper outperforms the traditional DPD algorithms with more accurate results and higher computational efficiency, and especially at low SNR, it is more close to the CRLB.展开更多
A linear-correction least-squares（LCLS） estimation procedure is proposed for geolocation using frequency difference of arrival （FDOA） measurements only. We first analyze the measurements of FDOA, and further deriv...A linear-correction least-squares（LCLS） estimation procedure is proposed for geolocation using frequency difference of arrival （FDOA） measurements only. We first analyze the measurements of FDOA, and further derive the Cramer-Rao lower bound （CRLB） of geoloeation using FDOA measurements. For the localization model is a nonlinear least squares（LS） estimator with a nonlinear constrained, a linearizing method is used to convert the model to a linear least squares estimator with a nonlinear con- strained. The Gauss-Newton iteration method is developed to conquer the source localization problem. From the analysis of solving Lagrange multiplier, the algorithm is a generalization of linear-correction least squares estimation procedure under the condition of geolocation using FDOA measurements only. The algorithm is compared with common least squares estimation. Comparisons of their estimation accuracy and the CRLB are made, and the proposed method attains the CRLB. Simulation re- sults are included to corroborate the theoretical development.展开更多
Due to the deficiencies in the conventional multiple-receiver localization syste,.ns based on direction of arrival （DOA） such as system complexity of interferometer or array and ampli- tude/phase unbalance between m...Due to the deficiencies in the conventional multiple-receiver localization syste,.ns based on direction of arrival （DOA） such as system complexity of interferometer or array and ampli- tude/phase unbalance between multiple receiving channels and constraint on antenna configuration, a new radiated source localization method using the changing rate of phase difference （CRPD） measured by a long baseline interferometer （LBI） only is studied. To solve the strictly nonlinear problem, a two-stage closed-form solution is proposed. In the first stage, the DOA and its changing rate are estimated from the CRPD of each observer by the pseudolinear least square （PLS） method, and then in the second stage, the source position and velocity are found by another PLS minimiza- tion. The bias of the algorithm caused by the correlation between the measurement matrix and the noise in the second stage is analyzed. To reduce this bias, an instrumental variable （IV） method is derived. A weighted IV estimator is given in order to reduce the estimation variance. The proposed method does not need any initial guess and the computation is small. The Cramer-Rao lower bound （CRLB） and mean square error （MSE） are also analyzed. Simulation results show that the proposed method can be close to the CRLB with moderate Gaussian measurement noise.展开更多
This article investigates the optimal observation configuration of unmanned aerial vehicles(UAVs) based on angle and range measurements, and generalizes predecessors' researches in two dimensions into three dimens...This article investigates the optimal observation configuration of unmanned aerial vehicles(UAVs) based on angle and range measurements, and generalizes predecessors' researches in two dimensions into three dimensions. The relative geometry of the UAVs-target will significantly affect the state estimation performance of the target, the cost function based on the Fisher information matrix(FIM) is used to derive the FIM determinant of UAVs' observation in three-dimensional space, and the optimal observation geometric configuration that maximizes the determinant of the FIM is obtained. It is shown that the optimal observation configuration of the UAVs-target is usually not unique, and the optimal observation configuration is proved for two UAVs and three UAVs in three-dimension. The long-range over-the-horizon target tracking is simulated and analyzed based on the analysis of optimal observation configuration for two UAVs. The simulation results show that the theoretical analysis and control algorithm can effectively improve the positioning accuracy of the target. It can provide a helpful reference for the design of over-the-horizon target localization based on UAVs.展开更多
Spacecraft orbit evasion is an effective method to ensure space safety. In the spacecraft’s orbital plane, the space non-cooperate target with autonomous approaching to the spacecraft may have a dangerous rendezvous....Spacecraft orbit evasion is an effective method to ensure space safety. In the spacecraft’s orbital plane, the space non-cooperate target with autonomous approaching to the spacecraft may have a dangerous rendezvous. To deal with this problem, an optimal maneuvering strategy based on the relative navigation observability degree is proposed with angles-only measurements. A maneuver evasion relative navigation model in the spacecraft’s orbital plane is constructed and the observability measurement criteria with process noise and measurement noise are defined based on the posterior Cramer-Rao lower bound. Further, the optimal maneuver evasion strategy in spacecraft’s orbital plane based on the observability is proposed. The strategy provides a new idea for spacecraft to evade safety threats autonomously. Compared with the spacecraft evasion problem based on the absolute navigation, more accurate evasion results can be obtained. The simulation indicates that this optimal strategy can weaken the system’s observability and reduce the state estimation accuracy of the non-cooperative target, making it impossible for the non-cooperative target to accurately approach the spacecraft.展开更多
Localization of sensor nodes in the internet of underwater things(IoUT)is of considerable significance due to its various applications,such as navigation,data tagging,and detection of underwater objects.Therefore,in t...Localization of sensor nodes in the internet of underwater things(IoUT)is of considerable significance due to its various applications,such as navigation,data tagging,and detection of underwater objects.Therefore,in this paper,we propose a hybrid Bayesian multidimensional scaling(BMDS)based localization technique that can work on a fully hybrid IoUT network where the nodes can communicate using either optical,magnetic induction,and acoustic technologies.These communication technologies are already used for communication in the underwater environment;however,lacking localization solutions.Optical and magnetic induction communication achieves higher data rates for short communication.On the contrary,acoustic waves provide a low data rate for long-range underwater communication.The proposed method collectively uses optical,magnetic induction,and acoustic communication-based ranging to estimate the underwater sensor nodes’final locations.Moreover,we also analyze the proposed scheme by deriving the hybrid Cramer-Rao lower bound(H-CRLB).Simulation results provide a complete comparative analysis of the proposed method with the literature.展开更多
基金jointly supported by the National Natural Science Foundation of China(No.61175008)State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System of China(No.CEMEE2014K0301A)the Natural Science Foundation of Jiangsu Province of China(No.BK20140896)
文摘Since the features of low energy consumption and limited power supply are very impor- tant for wireless sensor networks （WSNs）, the problems of distributed state estimation with quan- tized innovations are investigated in this paper. In the first place, the assumptions of prior and posterior probability density function （PDF） with quantized innovations in the previous papers are analyzed. After that, an innovative Gaussian mixture estimator is proposed. On this basis, this paper presents a Gaussian mixture state estimation algorithm based on quantized innovations for WSNs. In order to evaluate and compare the performance of this kind of state estimation algo- rithms for WSNs, the posterior Cram6r-Rao lower bound （CRLB） with quantized innovations is put forward. Performance analysis and simulations show that the proposed Gaussian mixture state estimation algorithm is efficient than the others under the same number of quantization levels and the performance of these algorithms can be benchmarked by the theoretical lower bound.
文摘The mobile channel is slow fading and time selective, thus the multiplicative and additive noise of the channel will smear the spectral line, or arouse Doppler spread. This spread will make the parameters estimation accuracy degrade. The goal of this paper is to analytically assess this degradation when Carrier Frequency Offset (CFO) and Doppler shift exist jointly. Then the finite-sample Cramer-Rao Lower Bound (CRLB) is derived and close-form asymptotical expression is given for large-sample CRLB. These expressions give insights into the performance room for frequency estimation. Also the variance of Doppler shift estimator is simulated to illustrate the theoretical results.
文摘This paper delves into the problem of optimal placement conditions for a group of agents collaboratively localizing a target using range-only or bearing-only measurements.The challenge in this study stems from the uncertainty associated with the positions of the agents,which may experience drift or disturbances during the target localization process.Initially,we derive the Cramer-Rao lower bound(CRLB)of the target position as the primary analytical metric.Subsequently,we establish the necessary and sufficient conditions for the optimal placement of agents.Based on these conditions,we analyze the maximal allowable agent position error for an expected mean squared error(MSE),providing valuable guidance for the selection of agent positioning sensors.The analytical findings are further validated through simulation experiments.
基金supported by the National Natural Science Foundation of China(Nos.62071482,62471485,62471348)Shaanxi Association of Science and Technology Youth Talent Support Program Project,China(No.20230137)+1 种基金Innovative Talents Cultivate Program for Technology Innovation Team of ShaanXi Province,China(No.2024RS-CXTD-08)Youth Talent Lifting Project of the China Association for Science and Technology(No.2021-JCJQ-QT-018)。
文摘With the rapid development of commercial communications,the research on Radar-Communication Coexistence(RCC)systems is becoming a hot spot.The resource allocation techniques play a crucial role in the RCC systems.A performance-driven Joint Radar-target and Communication-user Assignment,along with Power and Subchannel Allocation(JRCAPSA)strategy,is proposed for an RCC network.The optimization model aims to minimize the sum of weighted Bayesian Cramer-Rao Lower Bounds(BCRLBs)of target state estimates for radar purpose.This is subject to constraints such as the Communication Data Rate(CDR)for communication purpose,the total power budget in each RCC system,assignment relationships,and the number of available subchannels.Considering that such a problem falls into the realm of Mixed Integer Programming(MIP),a Three-stage Iteratively Augment-based Optimization Method(TIAOM)is developed.The Communication-User Assignment(CUA),Communication Subchannel Allocation(SCA),and Radar-Target Assignment(RTA)feasible solution domains are iteratively expanded based on their importance,leading to the efficient acquisition of a suboptimal solution.Simulation results show the outperformance of the proposed JRCAPSA strategy,compared to the other benchmarks and the OPTI toolbox.The results also imply that the Bayesian Cramer-Rao Lower Bound(BCRLB)is a more stringent optimization metric for the achieved Mean Square Error(MSE),compared to Mutual Information(MI)and Signal-to-Interference-Noise Ratio(SINR).
文摘The muitipath signal resolution is reviewed in this paper.The problemsexisted and to be studied are pointed out.Theoretical analysis of the performance ofthe resolution for deterministic signal in the cases where the signal known or unknownis made.Their corresponding Cramer-Rao lower bounds(CRLB)are obtained.
基金funded by the National Defence Science and Technology Project Fund of China(No.3101140)the Shanghai Aerospace Science and Technology Innovation Fund of China(No.SAST2015028)the Equipment Prophecy Fund of China(No.9140A21040115KG01001).
文摘To improve the resolution and accuracy of Direct Position Determination(DPD),this paper investigates the problem of positioning multiple emitters directly with a single moving Rotating Linear Array(RLA).Firstly,the geometry of the RLA is formulated and analysed.According to its geometry,the intercepted noncoherent signals in multiple interception intervals are modeled.Correspondingly,the Multiple SIgnal Classification(MUSIC)based noncoherent DPD approach is proposed.Secondly,the synchronous coherent pulse signals are individually considered and formulated.And the coherent DPD approach which aims for localizing this special type of signal is presented by stacking all array responses at different interception intervals.Besides,we also derive the constrained Cramer-Rao Lower Bound(CRLB)expression for both noncoherent and coherent DPD with RLA under the constraint that the altitudes of the emitters are known.At last,computer simulations are included to examine the performance of the proposed approach.The results demonstrate that the localization accuracy and resolution of DPD with single moving linear array can be significantly improved by the array rotation.In addition,coherent DPD with RLA further improves the resolution and increases the maximum emitter number that can be localized compared with the noncoherent DPD with RLA.
基金supported by the National Natural Science Foundation of China(No.61401513)
文摘The localization of a stationary transmitter using moving receivers is considered. The original Direct Position Determination （DPD） methods, with combined Time Difference of Arrival （TDOA） and Frequency Difference of Arrival （FDOA）, do not perform well under low Signal-to-Noise Ratio （SNR）, and worse still, the computation cost is difficult to accept when the computational capabilities are limited. To get better positioning performance, we present a new DPD algorithm that proves to be more computationally efficient and more precise for weak signals than the conventional approach. The algorithm partitions the signal received with the same receiver into multiple non-overlapping short-time signal segments, and then uses the TDOA, the FDOA and the coherency among the short-time signals to locate the target. The fast maximum likelihood estimation, one iterative method based on particle filter, is designed to solve the problem of high computation load. A secondary but important result is a derivation of closed-form expressions of the Cramer-Rao Lower Bound （CRLB）. The simulation results show that the algorithm proposed in this paper outperforms the traditional DPD algorithms with more accurate results and higher computational efficiency, and especially at low SNR, it is more close to the CRLB.
基金National High-tech Research and Development Program of China (2011AA7072043)National Defense Key Laboratory Foundation of China (9140C860304)Innovation Fund of Graduate School of NUDT (B120406)
文摘A linear-correction least-squares（LCLS） estimation procedure is proposed for geolocation using frequency difference of arrival （FDOA） measurements only. We first analyze the measurements of FDOA, and further derive the Cramer-Rao lower bound （CRLB） of geoloeation using FDOA measurements. For the localization model is a nonlinear least squares（LS） estimator with a nonlinear constrained, a linearizing method is used to convert the model to a linear least squares estimator with a nonlinear con- strained. The Gauss-Newton iteration method is developed to conquer the source localization problem. From the analysis of solving Lagrange multiplier, the algorithm is a generalization of linear-correction least squares estimation procedure under the condition of geolocation using FDOA measurements only. The algorithm is compared with common least squares estimation. Comparisons of their estimation accuracy and the CRLB are made, and the proposed method attains the CRLB. Simulation re- sults are included to corroborate the theoretical development.
基金co-supported by the Foundation of National Defense Key Laboratory of China (No. 9140C860304)the National High Technology Research and Development Program of China (No. 2011AA7072048)
文摘Due to the deficiencies in the conventional multiple-receiver localization syste,.ns based on direction of arrival （DOA） such as system complexity of interferometer or array and ampli- tude/phase unbalance between multiple receiving channels and constraint on antenna configuration, a new radiated source localization method using the changing rate of phase difference （CRPD） measured by a long baseline interferometer （LBI） only is studied. To solve the strictly nonlinear problem, a two-stage closed-form solution is proposed. In the first stage, the DOA and its changing rate are estimated from the CRPD of each observer by the pseudolinear least square （PLS） method, and then in the second stage, the source position and velocity are found by another PLS minimiza- tion. The bias of the algorithm caused by the correlation between the measurement matrix and the noise in the second stage is analyzed. To reduce this bias, an instrumental variable （IV） method is derived. A weighted IV estimator is given in order to reduce the estimation variance. The proposed method does not need any initial guess and the computation is small. The Cramer-Rao lower bound （CRLB） and mean square error （MSE） are also analyzed. Simulation results show that the proposed method can be close to the CRLB with moderate Gaussian measurement noise.
基金supported by the National Natural Science Foundation of China(61703419)。
文摘This article investigates the optimal observation configuration of unmanned aerial vehicles(UAVs) based on angle and range measurements, and generalizes predecessors' researches in two dimensions into three dimensions. The relative geometry of the UAVs-target will significantly affect the state estimation performance of the target, the cost function based on the Fisher information matrix(FIM) is used to derive the FIM determinant of UAVs' observation in three-dimensional space, and the optimal observation geometric configuration that maximizes the determinant of the FIM is obtained. It is shown that the optimal observation configuration of the UAVs-target is usually not unique, and the optimal observation configuration is proved for two UAVs and three UAVs in three-dimension. The long-range over-the-horizon target tracking is simulated and analyzed based on the analysis of optimal observation configuration for two UAVs. The simulation results show that the theoretical analysis and control algorithm can effectively improve the positioning accuracy of the target. It can provide a helpful reference for the design of over-the-horizon target localization based on UAVs.
基金supported by the National Key R&D Program of China (2020YFA0713502)the Special Fund Project for Guiding Local Scientific and Technological Development (2020ZYT003)+1 种基金the National Natural Science Foundation of China (U20B2055,61773021,61903086)the Natural Science Foundation of Hunan Province (2019JJ20018,2020JJ4280)。
文摘Spacecraft orbit evasion is an effective method to ensure space safety. In the spacecraft’s orbital plane, the space non-cooperate target with autonomous approaching to the spacecraft may have a dangerous rendezvous. To deal with this problem, an optimal maneuvering strategy based on the relative navigation observability degree is proposed with angles-only measurements. A maneuver evasion relative navigation model in the spacecraft’s orbital plane is constructed and the observability measurement criteria with process noise and measurement noise are defined based on the posterior Cramer-Rao lower bound. Further, the optimal maneuver evasion strategy in spacecraft’s orbital plane based on the observability is proposed. The strategy provides a new idea for spacecraft to evade safety threats autonomously. Compared with the spacecraft evasion problem based on the absolute navigation, more accurate evasion results can be obtained. The simulation indicates that this optimal strategy can weaken the system’s observability and reduce the state estimation accuracy of the non-cooperative target, making it impossible for the non-cooperative target to accurately approach the spacecraft.
文摘Localization of sensor nodes in the internet of underwater things(IoUT)is of considerable significance due to its various applications,such as navigation,data tagging,and detection of underwater objects.Therefore,in this paper,we propose a hybrid Bayesian multidimensional scaling(BMDS)based localization technique that can work on a fully hybrid IoUT network where the nodes can communicate using either optical,magnetic induction,and acoustic technologies.These communication technologies are already used for communication in the underwater environment;however,lacking localization solutions.Optical and magnetic induction communication achieves higher data rates for short communication.On the contrary,acoustic waves provide a low data rate for long-range underwater communication.The proposed method collectively uses optical,magnetic induction,and acoustic communication-based ranging to estimate the underwater sensor nodes’final locations.Moreover,we also analyze the proposed scheme by deriving the hybrid Cramer-Rao lower bound(H-CRLB).Simulation results provide a complete comparative analysis of the proposed method with the literature.
