Moving Object Localization for Multistatic Sonar System with Clock Offsets

This paper investigates the moving object localization using time delay and Doppler frequency shifts in multistatic sonar system where the transmitters are subject to the clock offsets. A non-iterative two-stage closed-form solution is proposed to determine the position and velocity of the mobile object. In the first stage, the pseudo-linear equation is constructed by introducing auxiliary variables, and the preliminary solution is obtained from weighted least squares (WLS) minimization. In the second stage, the solution obtained in the first stage is used to construct a new linear equation, and the relationships among the unknown and auxiliary variables are used to improve the estimation performance of the position and velocity. The simulated results show that the performance of the stage-two solution is able to approach the Cramer-Rao Lower Bound (CRLB) performance under Gaussian noise when the measurement noise is small.