TDOA/FDOA based target tracking with imperfect position and velocity data of distributed moving sensors

Seul Ki Han, Won Sang Ra, Jin Bae Park

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


This paper addresses the target tracking problem using time difference of arrival (TDOA) and frequency difference of arrival (FDOA) measured by moving sensor network whose position and velocity are noise contaminated. It is a known fact that the existing approaches to this problem still have two unsolved technical issues; the unsatisfactory convergence behavior of the tracking filter mainly caused by severe nonlinearity of the problem itself and the tracking performance degradation due to the sensor position and velocity errors. In order to resolve these matters radically, the given target tracking problem is formulated as the robust state estimation problem of the linear system with stochastic uncertainties in its measurement matrix and solved by using the robust Kalman filter theory. The proposed scheme enables us to overcome the inherent limitations of the conventional nonlinear filters for its linear filter structure. It can also prevent the performance degradation due to imperfect sensor position and velocity information. Through the simulations, the effectiveness and reliable target tracking performance of the proposed method are demonstrated.

Original languageEnglish
Pages (from-to)1155-1166
Number of pages12
JournalInternational Journal of Control, Automation and Systems
Issue number3
Publication statusPublished - 2017 Jun 1

Bibliographical note

Publisher Copyright:
© 2017, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg.

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications


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