A robust weighted intersection algorithm for target localization using AOA measurements

The paper proposes a robust weighted intersection algorithm for target localization using AOA measurement (RWIAOA), RWIAOA algorithm mitigates the impact of singular bearing line intersection on AOA positioning algorithm based on weighted intersection. The algorithm proposed in this paper constructs corresponding bearing line and acquires the intersections of all bearing lines according to the AOA measurements from anchor nodes (AN). It confirms valid intersection by utilizing circular error probability and determines the weights of the valid intersection according to GDOP. It sums the weighted valid intersection and takes summation as the position estimation of blind node. The computing of GDOP in the paper considers the position error of ANs and makes it reflect the impact of ANs distribution on positioning accuracy. Simulation results show that compared with the existing algorithm, the given RWIAOA algorithm has higher positioning accuracy and better robustness.