Sequential TOA-Based Moving Target Localization in Multi-Agent Networks

Abstract

Localizing moving targets in unknown harsh environments has always been a severe challenge. This letter investigates a novel localization system based on multi-agent networks, where multiple agents serve as mobile anchors broadcasting their time-space information to the targets. We study how the moving target can localize itself using the sequential time of arrival (TOA) of the one-way broadcast signals. An extended two-step weighted least squares (TSWLS) method is proposed to jointly estimate the position and velocity of the target in the presence of agent information uncertainties. We also address the large target clock offset (LTCO) problem for numerical stability. Analytical results reveal that our method reaches the Cramer-Rao lower bound (CRLB) under small noises. Numerical results show that the proposed method performs better than the existing algorithms.

References in corpus (2)

• BLAS: Broadcast Relative Localization and Clock Synchronization for Dynamic Dense Multi-Agent Systems
• Range-only Collaborative Localization for Ground Vehicles

Cited by in corpus (4)

• A New TOA Localization and Synchronization System with Virtually Synchronized Periodic Asymmetric Ranging Network
• Optimal Two-way TOA Localization and Synchronization for Moving User Devices with Clock Drift
• New Closed-form Joint Localization and Synchronization using Sequential One-way TOAs
• Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers