From: Novel maximum likelihood approach for passive detection and localisation of multiple emitters
TALA component | Details |
---|---|
AOA/DDOA intersections (Step 1) | Based on measurements at only five sensors, only DDOAs satisfying Eq. (34) are used, with γ=2 |
N-R approach to determine DDOA intersections (Step 1) | 10 attempts allowed: attempt #1 initialises with the corresponding AOA intersection, subsequent attempts use random starting locations |
Measurement association (Step 2) | Gate threshold, ξ=10^{−3} (scenarios 1-2) gate threshold, ξ=10^{−2} (scenarios 3) |
Intersection downselection (Step 3) | Only consider intersections for which the total number of associated measurements is no smaller than N P _{ d }/2 |
G-N approach for ML estimation (Step 4) | Determine overall likelihood for step sizes of ±20%, ±40%, ±60%, ±80%, and ±100% of the Newton step (i.e. m=5) |
If no step increases the overall likelihood, consider a step of magnitude 200 m (i.e. =δ _{ M }) in a random direction | |
Stop iterating if the procedure above has attempted a total of 20 random steps, or each component of the GNSSE F(X _{ k })^{′} Σ ^{−1}×[Z−f(X _{ k })] has a magnitude smaller than 10^{−3} | |
Reassociation is only performed during gradient descent in scenario 3 |