• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.589-594
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• 2015

In this paper, we described the Cramer-Rao Lower Bound (CLRB) performances of Time Difference of Arrival (TDOA) and Frequency Difference of Arrival (FDOA) methods when there are multiple emitters. The TDOA and FDOA values between two receivers can be simultaneously estimated by using the so-called Complex Ambiguity Function (CAF). In the case of multiple emitters, there exist Inter Symbol Interferences (ISIs) in the measurement data. Therefore, it is required to reduce the effect of ISI and provide a performance evaluation method of TDOA and FDOA estimations. In order to eliminate the ISIs, using of a filter bank before calculating CAF is proposed when the carrier frequencies of the emitters are different to one another. Angle of Arrival (AOA) or Received Signal Strength (RSS) methods before calculating CAF were proposed to reduce the ISIs when the carrier frequencies are the same. In order to evaluate the CRLB of TDOA and FDOA estimations, we employed the conditional probability distribution method and described the numerical comparison results.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.3
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• pp.445-450
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• 2015

In the moving target problem, the velocity information of the moving target is very important as well as the high accuracy position information. To solve this problem, active researches are being conducted recently with combine the Time Difference of Arrival (TDOA) and Frequency Delay of Arrival(FDOA) measurements. However, since the FDOA measurement is utilizing the Doppler effect due to the relative velocity between the target source and the receiver sensor, it may be difficult to use the FDOA measurement if the moving target speed is not sufficiently fast. In this paper, we propose a method for estimating the position and the velocities of the target by using only the TDOA measurements for the low speed moving target in the indoor environment with sensor network. First, the target position and heading angle are obtained from the estimated positions of two attached transmitters on the target. Then, the target angular and linear velocities are also estimated. In addtion, we apply the Instrumental Variable (IV) technique to compensate the estimation error of the estimated target velocity. In simulation, the performance of the proposed algorithm is verified.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.4 s.316
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• pp.1-7
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• 2007

When the sensor geometry is poor, the user position estimate obtained by of GN (Gauss-Newton) method is often diverged in radio navigation. In other to avoid divergence problem QCLS (Quadratic Correction Least Square) method using TDOA (Time Difference of Arrival) measurements is introduced, but the estimation error is somewhat large. This paper presents the modified QCLS method using weighted least square. Since the weighting matrix is influenced by the unknown user position, two-step approach is employed in the proposed method. The weighting matrix is estimated in the first step using least square, and then find user position is obtained using weighted least square. Simulation results show that the performance of the proposed method is superior to the conventional QCLS all over the workspace.

• Journal of KIISE:Information Networking
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• v.34 no.5
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• pp.389-395
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• 2007

It is necessary to research on wireless position determination technology that enables location based services on Portable Internet. In this paper, I consider the position determination technology based on TDOA belong to trilateration method. That is using the difference of relative distance between base stations and terminal due to the time difference of arrival of downlink signal. In order to design the positioning server, This paper reviews the related research on current status of wireless position determination technology based on TDOA on Portable Internet. And then, it is suggested that system architecture, network interface, the calculation model for position determination, which are adapted to circumstance of portable Internet. Through this research on the positioning server, it is expected to guarantee that low cost and high efficiency of wireless positioning server on Portable Internet will be developed.

• Journal of Advanced Navigation Technology
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• v.15 no.6
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• pp.1241-1249
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• 2011

There are TOA, TDOA and AOA method to estimate the position of the electromagnetic wave transmitter by using the multiple receivers at the fixed position. Among these methods, AOA method is suitable for the jammer localization system. Because TOA method can be adopted for the clocks of the transmitter and the receiver are synchronized each other, and TDOA method can be only adopted for a broad-band jamming signal. This paper, therefore, analyzes the characteristics of the AOA measurements and the sensitivity of the positioning performance according to the system design parameters. Based on the analyzed results, the jammer localization system to meet the desired performance is designed, and it has been checked that the positioning error for the jammer located at a distance of 10km is lower than 38m through the simulation results.

• The Journal of Korea Robotics Society
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• v.7 no.4
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• pp.231-242
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• 2012

This paper proposes particle filter(PF) method using acoustic signal for localization of an underwater robot. The method uses time of arrival(TOA) or time difference of arrival(TDOA) of acoustic signals from beacons whose locations are known. An experiment in towing tank uses TOA information. Simulation uses TDOA information and it reveals dependency of the localization performance on the uncertainty of robot motion and senor data. Also, comparison of the PF method with the least squares method of spherical interpolation(SI) and spherical intersection(SX) is provided. Since PF uses TOA or TDOA which comes from measurement of external information as well as internal motion information, its estimation is more accurate and robust to the sensor and motion uncertainty than the least squares methods.

• Journal of the Society of Naval Architects of Korea
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• v.48 no.2
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• pp.121-127
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• 2011

As considerable interests in noise emission from a ship have been increased, the need for localization of noise sources of the marine propeller generating cavitation and singing noise is looming large. In many practical cases, cavitation and singing noise occur on a particular position of the certain blade of the propeller. It is so important to know the position of noise source correctly in order to eliminate or suppress unwanted noise. In this study, we develop "noise source localization technology" using TDOA method. Experimental measurements carried out at the circulating water channel and towing tank show that noise source can be clearly identified and localized using TDOA method.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.4 no.3
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• pp.595-602
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• 2000

This paper is aimed at developing an location tracking system of mobile station based on currently available mobile communication network or mobile Phone and PCS(Personal Communication System). When the location tracking of mobile stations is in services, Emergency-119, all of crime investigation, effective urban traffic management and the safety protection of Alzheimer＇s patients can be available. In order to track the location of the mobile and base station, assumption in this paper is to use the statistic characteristics of LOS when modeling the standard noise in case that radio path is LNOS environment. The standard variation of the standard noise is $\pm150$. First, location is estimated by the positioning algorithms of TOA and TDOA and compared each other. Second, after canceling the standard noise by Kalman filter, location is estimated by the above two positioning algorithms. Finally, the location by the Kalman filter and two positioning algorithms is estimated by smoothing method. As a result, 2 dimensional average location error is imvoved by 51.2m in TOA and 34.8m in TDOA when Kalman filer and two positioning algorithms are used, compared with the two positioning algorithm used. And there is 3 more meter improvement after smoothing than Kalman filer and two positioning algorithms used.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2000.05a
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• pp.167-172
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• 2000

This paper is aimed at developing an location tracking for mobile station employing currently available mobile communication network of cellular phone and PCS(Personal Communication System). When the location tracking of mobile stations is in services, the services such as Emergency-119, crime investigation, effective urban traffic management or the safety protection of Alzheimer's patients, ran be available. This paper is to track the mobile station in communication network in NLOS environment. To achieve reduction of the standard noise, Kalman filter is used. In terms of the distance, positions are located by using TOA and TDOA methods in the environment that removes NLOS bias in the measured data. And then smoothing method is used. to achieve reduction of the position error values

• The Journal of the Acoustical Society of Korea
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• v.43 no.2
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• pp.178-183
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• 2024

This study introduces an enhanced sound source localization technique, bolstered by a data-driven deep learning approach, to improve the precision and accuracy of direction of arrival estimation. Focused on refining Time Difference Of Arrival (TDOA) based sound source localization, the research hinges on accurately estimating TDOA from cross-correlation functions. Accurately estimating the TDOA still remains a limitation in this research field because the measured value from actual microphones are mixed with a lot of noise. Additionally, the digitization process of acoustic signals introduces quantization errors, associated with the sampling frequency of the measurement system, that limit the precision of TDOA estimation. A deep learning-based approach is designed to overcome these limitations in TDOA accuracy and precision. To validate the method, we conduct comprehensive evaluations using both two and three-microphone array configurations. Moreover, the feasibility and real-world applicability of the suggested method are further substantiated through experiments conducted in an anechoic chamber.