科研之友
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摘要
The inadvertent incorporation of deviating samples into the measured indirect and direct path delays is generally unavoidable in the practical implementation of passive elliptic localization. These outlying observations, however, can do great harm to the positioning performance if left untreated. Here, a robust statistics-based method is put forward as the solution to such a problem. The non-outlier-resistant l(2) cost function in the traditional least squares (LS) formulation is replaced by a certain differentiable error measure that possesses resistance to the presence of abnormally large fitting errors. A globally optimized hybrid quasi-Newton and particle swarm optimization (PSO) algorithm is then developed for an efficient realization of the robust estimator. The strong capability of the presented approach to deal with outliers and its applicability to typical adverse localization environments are demonstrated via simulations.
