Problem of multilateration with several signal transmission instants

Abstract

The multilateration problem is described in the case when measurements from several consecutive instants of signal transmission are processed together. For the corresponding observation equations, the Cramer-Rao Lower Bound is computed. The solution is based on minimization of a nonlinear functional, and we proposed an effective numerical method for this optimization task. The results of work of the algorithm on simulation data corresponding to some real location and characteristics of the receiving stations are presented.