使用到達時間差(Time Difference of Arrival, TDOA)技術的天線集合可以有效地定位射頻信號源。許多研究已經提出了使用TDOA技術的各種方法來改善定位精確度。
使用一組傳感器，如無人機(Unmanned Aerial Vehicle, UAV)裝備射頻接收器對信號源定位，最近獲得了更多研究者的關注；然而，由於如機翼旋轉速度和風速等因素，每台傳感器可能搖擺或偏離其預設位置。因此，傳感器陣列的幾何佈置不再是靜態陣列，而是受到振動後的動態傳感器陣列，此問題將導致TDOA定位誤差。
在這項工作中，我們提出了一種方法來改善傳感器陣列存在位置誤差所引起的TDOA定位誤差。利用傳感器位置偏差的統計數據，所提出的方法可以使用TDOA技術，提高多個互不干擾信號源的定位精確度。
我們使用電腦模擬來驗證所提出的方法，並將其與其他相似的研究進行比較。模擬結果表示，此方法對傳感器振動是強健的且有效降低了目標源的定位誤差。

A sensor set using the time difference of arrival (TDOA) technique can effectively localize a RF signal source. Many studies have proposed various methods to improve the localization accuracy using the TDOA techniques.
Using a set of sensors such as UAVs equipping with RF receivers for signal source localization has gain more researchers’ attentions recently; however, each sensor may sway or deviate from their preset position, because of the factors such as mechanical rotary wing speed, wind speed, and so on. Consequently, the geometric arrangement of the sensor array is no longer a static array but a dynamic array with vibration in each element, which results in TDOA localization errors.
In this work, we propose a method to improve the TDOA localization error caused by the sensor array with position errors. With the statistical data of the sensor position deviations, the proposed method can enhance the localization accuracy of multiple disjoint signal sources using TDOA techniques.
We use computer simulations to verify the proposed method, and compare it with other similar researches. The simulation results show that the proposed method is robust to the sensor vibration and effectively reduce the localization errors for the target sources.

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