V.G. Markin - Project Director, JSC «Concern «Sozvezdie»

This paper focuses on the problem of moving object positioning based on measured distance to the objects with known coordinates. Usually, required coordinates are connected with measured distance through the system of nonlinear equations. This system can be solved by linearization with series expansion and recursive position estimation. Furthermore, the author analyzes direct positioning technique that does not employ recursive algorithms for solving nonlinear equations. Finally, positioning errors are estimated in a model with distance measurement errors. Obtained simulation results are in accordance with the conducted theoretical analysis.