Multiple object localisation with a network of receivers

摘要

A technique is described for determining the correct locations of a plurality of objects by processing signals emitted by a transmitter and reflected by the objects to a plurality of receivers, No angle or elevation information is used. Object-receiver pair time difference of arrival measurements are made to calculate the time difference of arrival between the signals received at each pair of receivers from each object. Hyperbolic localisation is then performed to identify possible locations for each object. Direct-reflected signal time reception measurements are made for each receiver-object pair to calculate the time difference between the reception by the receiver of the direct signal from the transmitter and the signal reflected by the object. The direct-reflected signal time reception measurements are associated with the object-receiver pair time difference of arrival measurements, and the results are used to identify the correct object positions by associating the locations determined by the hyperbolic localisation to the direct-reflected signal time reception measurements.