TDOA and FDOA Hybrid Positioning of Mobile Radiation Source with Receiver Position Errors

High-precision position awareness is essential to ubiquitous wireless networks, which can provide real-time position information and abundant status information for numerous practical applications. However, It is a challenge to obtain accurate position estimation utilizing traditional onefold parameter estimation, especially for the accurate position estimation of moving radiation source in the presence of receiver position errors. In this work, we developed an Improved Taylor Series estimation method in three-dimensional positioning scene, in which time difference of arrival (TDOA) and frequency difference of arrival (FDOA) are used to estimate the position and velocity of the target, and the position of the receiver is iteratively updated to reduce the influence of the receiver position errors. The closed-form expressions of Cramer-Rao low bound (CRLB) based on joint TDOA and FDOA positioning with receiver position errors are derived. In the simulation, CRLB with and without receiver position errors are evaluated to illustrate the influence of the receiver position errors on the positioning performance. Theory analysis and simulation results show that the proposed algorithm has lower complexity, smaller RMSE and better positioning performance than multidimensional scaling (W-MDS) algorithm, constrained total least squares algorithm and two-step weighted least squares algorithm for both near-field and far-field emitters.