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系统误差的存在可能对无源定位的性能带来较大影响。针对多运动站得到的含有系统误差的观测量信息,推导了定位误差的克拉美-罗下限(CRLB)。首先根据具体系统误差模型推导测量误差的统计信息,然后根据系统误差导致不同时刻观测量相关的特点,将非对角矩阵的误差协方差矩阵写为分块矩阵的形式,并在此基础上推导其递推计算式,最后以系统误差情况下多运动站只测角无源定位为例进行定位性能的仿真分析。仿真结果表明系统误差的存在对定位误差CRLB影响较大,在定位中需要重点考虑。
The existence of systematic errors may have a greater impact on the performance of passive positioning. Aiming to the information about the systematic errors obtained by multi-sports stations, the Cramer-Roche Lower Limit (CRLB) of positioning error is deduced. Firstly, the statistical information of the measurement error is deduced according to the specific system error model. Then, according to the characteristic that the systematic error leads to the observation at different time, the error covariance matrix of the non-diagonal matrix is written in the form of block matrix. Based on this, The recursive formula is used to analyze the positioning performance of a multi-sports station in the event of system error. The simulation results show that the existence of system error has a great influence on the positioning error CRLB, which needs to be considered in the positioning.