Semidefinite Relaxation Algorithm for Multisource Localization Using TDOA Measurements with Range Constraints

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/wcmc/volume-2018/9430180/figures/9430180.fig.002a.svgz" name="9430180.fig.002a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>RMSE of target 1</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/wcmc/volume-2018/9430180/figures/9430180.fig.002b.svgz" name="9430180.fig.002b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>RMSE of target 2</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/wcmc/volume-2018/9430180/figures/9430180.fig.002c.svgz" name="9430180.fig.002c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>RMSE of target 3</td></tr></table>

<div>Comparison of RMSE and measurement noise <svg height="11.7978pt" id="M181" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -11.5914 12.4186 11.7978" width="12.4186pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M548 455L523 469C505 448 490 439 461 439C416 439 374 447 316 447C144 447 23 310 23 161C23 47 89 -12 179 -12C312 -12 429 106 429 244C429 303 419 344 368 386L371 388C404 383 440 378 474 378C507 378 530 411 548 455ZM350 274C350 191 308 25 198 25C144 25 108 75 108 157C108 264 170 395 276 395C296 395 320 384 333 360C347 334 350 316 350 274Z" id="g113-240"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.347,-5.741)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g50-51"></path></g></svg> for three targets with <span class="nowrap"><svg height="9.49473pt" id="M182" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 44.9829 9.49473" width="44.9829pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M494 514C482 587 419 712 303 712C238 712 174 667 174 603C174 561 205 514 249 449C219 438 187 422 162 407C93 366 23 283 23 177C23 69 87 -12 190 -12C244 -12 288 5 328 33C406 87 444 170 444 249C444 329 404 391 331 475C265 550 222 605 222 627C222 647 238 657 267 657C355 657 421 585 484 499L494 514ZM359 234C359 143 319 30 219 30C172 30 114 75 114 178C114 275 163 343 195 378C212 397 241 415 269 425C305 382 359 313 359 234Z" id="g113-226"></path></g><g transform="matrix(.013,0,0,-0.013,10.354,0)"><path d="M535 323V373H52V323H535ZM535 138V188H52V138H535Z" id="g117-34"></path></g><g transform="matrix(.013,0,0,-0.013,21.617,0)"><path d="M137 343C167 482 260 545 321 574C357 591 397 603 429 609L423 641C382 634 335 622 295 608C189 570 37 457 37 238C37 84 125 -12 242 -12C362 -12 447 89 447 209C447 311 374 393 267 393C247 393 226 386 204 376L137 343ZM227 337C318 337 361 256 361 173C361 105 336 22 258 22C176 22 126 120 126 240C126 266 127 291 132 310C155 323 189 337 227 337Z" id="g113-55"></path></g><g transform="matrix(.013,0,0,-0.013,27.857,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z" id="g113-49"></path></g><g transform="matrix(.013,0,0,-0.013,34.144,0)"><path d="M797 0V26C739 32 732 36 732 103V296C732 394 682 449 605 449C576 449 550 437 529 423C504 407 475 389 446 366C425 418 382 449 334 449C303 449 279 437 253 421C222 403 201 385 180 371V452C135 432 85 419 41 411V388C99 379 102 374 102 310V103C102 38 93 32 27 26V0H238V26C189 32 180 38 180 103V338C210 363 250 390 289 390C351 390 377 348 377 275V103C377 37 368 32 306 26V0H520V26C465 32 456 38 456 101V296C456 314 455 326 453 338C491 369 529 390 565 390C628 390 653 345 653 274V107C653 36 642 32 583 26V0H797Z" id="g121-107"></path></g></svg>.</span></div>

Wireless Communications and Mobile Computing

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Figure 2

Figure 2: Semidefinite Relaxation Algorithm for Multisource Localization Using TDOA Measurements with Range Constraints 