TDOA filter explanation
Posted: Fri Aug 03, 2018 1:37 pm
Can someone explain the kalman filtering applied to TDOA measurements?
In particular the function stateEstimatorUpdateWithTDOA()
What's the meaning of these lines?
The actual measurement is used only to calculate the prediction error, right?
I've seen a couple of papers cited, but I can't find nothing on Time Difference of Arrival estimation.
Thank you!
In particular the function stateEstimatorUpdateWithTDOA()
What's the meaning of these lines?
Code: Select all
h[STATE_X] = ((x - x1) / d1 - (x - x0) / d0);
h[STATE_Y] = ((y - y1) / d1 - (y - y0) / d0);
h[STATE_Z] = ((z - z1) / d1 - (z - z0) / d0);
The actual measurement is used only to calculate the prediction error, right?
I've seen a couple of papers cited, but I can't find nothing on Time Difference of Arrival estimation.
Thank you!