Extending MPR for Locating a Moving Object Based on TDOA and FDOA

Modified Polar Representation (MPR) has shown its superiority in integration of near and far field localization for a stationary source. This paper extends the researches and applications of the MPR to moving source, where time difference of arrival (TDOA) and frequency difference of arrival (FDOA) exist due to the relative motion between sensors and source. Theoretical analysis through hybrid Bhattacharyya-Barankin (HBB) bound is provided for evaluating the performance tighter than the Cramér-Rao lower bound (CRLB). We propose a Maximum Likelihood Estimator (MLE) implemented by Gauss-Newton (GN) iteration based on the extended MPR to estimate the position and velocity of source and test the performance under the new MPR. Simulation results confirm that MPR can eliminate the thresholding effect of source position as the source moves far away.