观测站位置状态扰动下Taylor级数迭代定位方法及性能分析

针对具有一般普适意义的定位方程，给出观测站位置状态扰动下基于Taylor级数迭代的目标定位方法，并推导其理论性能。分别在“无校正源(情况a)”和“有校正源(情况b)”两种条件下进行算法推导和理论分析。针对情况(a)，给出两种Taylor级数迭代公式，并证明两种方法的定位性能趋于一致，均能够达到相应克拉美罗界；针对情况(b)，首先给出基于差分校正的Taylor级数迭代公式，针对其不足提出一种基于两步最优融合的Taylor级数迭代公式，并证明其理论性能可达到相应克拉美罗界。最后，设计两种无源定位实验场景用以验证算法设计与理论分析的有效性。

The Taylor Series Location and Its Performance Analysis with Erroneous Observer Positions

In this paper, a Taylor series location method and its performance analysis are presented in presence of sensor position errors for general measurement equations. Two cases in the absence of calibration sources (a) and in the presence of calibration sources (b) are discussed. For the case (a), two Taylor series iteration formulas are given, and their theoretical performances are proven to be consistent with each other, and equal to the corresponding Cramér Rao bound (CRB). For the case (b), the Taylor series location formula based on the difference calibration (DC) location is derived. Aiming to the shortcoming of the DC location technique, the Taylor series iterative method based on two step optimal fusion is proposed, whose theoretical performance is proven to reach to the corresponding CRB. Finally, some simulation experiments for two passive location scenarios are conducted to verify the effectiveness of the location algorithms and the performance analysis in this paper.