# Source Localization with the BLUE Estimator

I'm trying to implement BLUE estimator in MATLAB for source localization and after my research I've come up with a theoretical example in Steven Kay's "Fundamentals of Statistical Signal Processing: Estimation Theory" book (Example 6.3).

In this solution, while estimating $$\theta$$, the Gauss-Markov theorem is used and a point called as nominal source position($$R_{n_i}$$) is defined rather than real source position($$R_i$$). There is equation which shows the relation between $$R_{n_i}$$ and $$R_i$$ found by first order Taylor series expansion.

I'm confused about finding the value of $$R_{n_i}$$ variable, can anyone explain me this solution?

This could be a very simple question, but I want to understand the theory and my mind is not clear now. When you look at the solution in the book, I think you will understand better than I wrote.

EDIT:

N = 8; %total number of receivers
var = 1;
c = 3*10^5; % speed of electromagnetic waves
x = [0 8 7 1 5 9 3 1]; %xi receiver location
y = [0 1 9 9 2 5 8 4]; %yi receiver location
xs = 3; ys = 6; %real source location
xn = 6; yn = 10; %nominal source location
Sxs = xs-xn; Sys = ys-yn;
for i=1:N
R(i) = sqrt((xs-x(i))^2*(ys-y(i))^2);
Rn(i) = sqrt((xn-x(i))^2*(yn-y(i))^2);
co(i) = (xn-x(i))/Rn(i); %cosai
si(i) = (yn-y(i))/Rn(i); %sinai
noise(i) = var*randn(1,1); %e1,e2,..
end
for i=1:N-1
e(i) = 1/c*(co(i+1)-co(i))*Sxs+1/c*(si(i+1)-si(i))*Sys+noise(i+1)-noise(i); %linear model (6.26)
end
H = 1/c*[co(2)-co(1) si(2)-si(1);
co(3)-co(2) si(3)-si(2);
co(4)-co(3) si(4)-si(3);
co(5)-co(4) si(5)-si(4);
co(6)-co(5) si(6)-si(5);
co(7)-co(6) si(7)-si(6);
co(8)-co(7) si(8)-si(7)];

A = [-1 1 0 0 0 0 0 0;
0 -1 1 0 0 0 0 0;
0 0 -1 1 0 0 0 0;
0 0 0 -1 1 0 0 0;
0 0 0 0 -1 1 0 0;
0 0 0 0 0 -1 1 0;
0 0 0 0 0 0 -1 1];
inaaT = inv(A*transpose(A));
estTheta = inv(transpose(H)*inaaT*H)*transpose(H)*inaaT*transpose(e); % eq. 6.27


This is not a modular code, I just want to be sure about not missing any point. However, when I run this code I get useless estTheta values. I think again I leave out something in the theory.

One problem with your code is that the range calculations should be

R(i) = sqrt((xs-x(i))^2$$\color{red}{\bf +}$$(ys-y(i))^2);

Rn(i) = sqrt((xn-x(i))^2$$\color{red}{\bf +}$$(yn-y(i))^2);

But that doesn't appear to help.

The thing that seems to be the issue is that your noise variance is way too high. If I set it to var = 0.00000001 then I get good estimates.

The reason is because you're using this variance (or a standard deviation of 0.0001) to add noise to your H matrix. Looking at the values there:

you can see you're adding something with a variance of 1 (standard deviation of 1), to something of the order of $$10^{-5}$$. That means your SNR (signal-to-noise ratio) is about -100dB. I know of no algorithm that will help you at SNRs that low.

You left out that Kay defines $$R_i(x_s,y_s) = \sqrt{(x_s - x_i)^2 + (y_s - y_i)^2}$$ and $$R_{n_i}(x_n,y_n) = \sqrt{(x_n - x_i)^2 + (y_n - y_i)^2}$$ where $$x_s = x_n + \delta x_s$$ and $$y_s = y_n + \delta y_s$$.

Then the aim is to write $$R_i$$ in terms of $$R_{n_i}$$.

Wikipedia has an example of Taylor series in two variables, and the first order approximation is just:

$$f(x,y) \approx f(a,b) + (x-a) \frac{df}{dx} (a,b) + (y-b) \frac{df}{dy} (a,b) + \ldots$$

Then all you need to do is apply Wikipedia's expression to Kay's to get

$$R_i \approx R_{n_i} + \frac{x_n-x_i}{R_{n_i}} \delta x_s + \frac{y_n - y_i}{R_{n_i}} \delta y_s.$$

• Thanks for the explanation, but how do I obtain xn and yn? I should use the xs=xn+δxs equation, then finding δxs is another blur thing for me. – sfw monster Apr 30 '20 at 20:28
• Kay says: This nominal position, which is close to the true source position, could have been obtained from previous measurements.. The aim is to estimate $\delta x_s$ and $\delta y_s$. – Peter K. Apr 30 '20 at 21:40
• I see, however, in estimation equation (6.27), there is a H matrix which consists of cos and sin values depends on xn, xi and Rni. Here, isn't xn independent of x(n-2), x(n-3) etc. or is xn a constant point? So, what refers to previous measurements exactly? Maybe, if it is possible you can give me the steps of a few iterations for calculating cos and sin values. Some further elaboration could be awesome for my side. – sfw monster May 1 '20 at 1:45
• @sfwmonster : I'm not quite sure what you're asking. What is x(n-2) and x(n-2) ? – Peter K. May 1 '20 at 1:57
• Sorry, let me clear that if the nominal position point is not a constant, I mean if we are sliding it to the real source position, then there will be more than one nominal position points which are at x_(n-1) point, x_(n+1) point etc. It's a better idea to ask only my question that I just want to construct the H matrix depends on cos and sin values. For example if I calculate/estimate cosα_1 = (x_n-x_i)/R_ni, what values should I put instead of x_n and R_ni ? – sfw monster May 1 '20 at 6:44