Multistatic Localization in Partially Dynamic Scenario With Only Sensor Positions Available

This article addresses the multistatic localization of an object by exploiting the direct-blast and object-reflected signals, where the transmitter location is not known and only the sensor positions are available. We study the cases that either the object or the transmitter is moving, in a noncooperative environment at which unknown offsets are present in the time delay and Doppler shift measurements. We analyze thoroughly by the Cramer–Rao lower bound (CRLB) if the direct-blast signals are useful in increasing the object localization performance, albeit doing so introduces extra parameters of the transmitter for estimation. Performance comparison with the fully dynamic moving object and moving transmitter modeling is established. Algebraic solutions are derived for the localization problem and analysis is made to validate that the proposed estimators are able to reach the CRLB performance under Gaussian noise over the small error region.