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Robust Calibration Algorithm for Multiplicative Modeling Errors Against Location Deviations of Auxiliary Sources

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Abstract

It is well known that the azimuth deviations of the auxiliary sources severely degrade the performance of classical subspace-based calibration methods that assume the direction-of-arrivals of calibration sources are perfectly measured. Therefore, aiming at the effects of source location deviations, the estimation variance of the multiplicative modeling errors for the subspace-based calibration method is first derived by applying matrix eigen-perturbation theory and first-order perturbation analysis approach. The theoretical analysis is undertaken under the assumption that the azimuth deviations are small enough for the first-order perturbation analysis to be valid. In addition, to mitigate the effects of the location errors, a structured total least squares optimization model is established using first-order Taylor series expansion method. Then, the corresponding numerical algorithm is presented to provide a robust estimate for multiplicative modeling errors. The exact Cramér–Rao bound expressions for the unknowns are also deduced in the presence of the azimuth deviations. Simulation results confirm the effectiveness of the theoretical analysis and demonstrate the desirable behavior of the robust calibration algorithm in comparison with the subspace-based calibration methods.

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Acknowledgments

The author would like to thank all the anonymous reviewers for their valuable comments and suggestions which vastly improved the content and presentation of this paper. The author also acknowledges support from National Science Foundation of China under Grants 61201381 and the Future Development Foundation of Zhengzhou Information Science and Technology College under Grants YP12JJ202057.

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Correspondence to Ding Wang.

Appendices

Appendix 1: Proof of (25)

Substitution of (22) and (23) into (21) yields

$$\begin{aligned} {\varvec{\delta m}}&\approx ( {{\varvec{mi}}_L^{( 1)\mathrm{T}} -{\varvec{I}}_L })\cdot \left\{ {{\varvec{\varPhi }}\left[ {{\varvec{\theta }}_0 ,{\varvec{E}}_0 } \right] } \right\} ^\mathrm{\dag }\cdot \left( {\sum \limits _{n=1}^D {{\varvec{T}}^\mathrm{H}\left[ {{\varvec{a}}\left[ {\theta _{0n} } \right] } \right] \cdot ( {{\varvec{\varPi }}_{\varvec{E}} -{\varvec{\varPi }}_{{\varvec{E}}_0 } })\cdot {\varvec{T}}\left[ {{\varvec{a}}\left[ {\theta _{0n} } \right] } \right] \cdot {\varvec{m}}} }\right) \nonumber \\&= ( {{\varvec{mi}}_L^{( 1)\mathrm{T}} -{\varvec{I}}_L })\cdot \left\{ {{\varvec{\varPhi }}\left[ {{\varvec{\theta }}_0,{\varvec{E}}_0 } \right] } \right\} ^\mathrm{\dag }\cdot \sum \limits _{k=1}^D {\delta \theta _k \cdot \left( {\sum \limits _{n=1}^D {{\varvec{T}}^\mathrm{H}\left[ {{\varvec{a}}\left[ {\theta _{0n} } \right] } \right] \cdot {\varvec{\dot{\varPi }}}_{{\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }^{\bot ( k)} \cdot {\varvec{T}}\left[ {{\varvec{a}}\left[ {\theta _{0n} } \right] } \right] \cdot {\varvec{m}}} }\right) }\nonumber \\ \end{aligned}$$
(48)

Putting (24) into (48) leads to

$$\begin{aligned} {\varvec{\delta m}}&\approx -( {{\varvec{mi}}_L^{( 1)\mathrm{T}} -{\varvec{I}}_L })\cdot \left\{ {{\varvec{\varPhi }}\left[ {{\varvec{\theta }}_0,{\varvec{E}}_0 } \right] } \right\} ^\mathrm{\dag } \nonumber \\&\times \sum \limits _{k=1}^D {\delta \theta _k \cdot \left( {\sum \limits _{n=1}^D {{\varvec{T}}^\mathrm{H}\left[ {{\varvec{a}}\left[ {\theta _{0n} } \right] } \right] \cdot \left( {\begin{array}{l} {\varvec{\varPi }}_{{\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }^\bot \cdot ( {{\varvec{\dot{b}}}\left[ {\theta _{0k} } \right] \otimes {\varvec{i}}_D^{( k)\mathrm{T}} })\cdot {\varvec{B}}^\mathrm{\dag }\left[ {{\varvec{\theta }}_0 } \right] \\ +{\varvec{B}}^{\dag \hbox {H}}\left[ {{\varvec{\theta }}_0 } \right] \cdot ( {{\varvec{\dot{b}}}^\mathrm{H}\left[ {\theta _{0k} } \right] \otimes {\varvec{i}}_D^{( k)} })\cdot {\varvec{\varPi }}_{{\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }^\bot \\ \end{array}}\right) \cdot {\varvec{T}}\left[ {{\varvec{a}}\left[ {\theta _{0n} } \right] } \right] \cdot {\varvec{m}}} }\right) } \nonumber \\&= -( {{\varvec{mi}}_L^{( 1)\mathrm{T}} -{\varvec{I}}_L })\cdot \left\{ {{\varvec{\varPhi }}\left[ {{\varvec{\theta }}_0 ,{\varvec{E}}_0 } \right] } \right\} ^\mathrm{\dag }\nonumber \\&\times \sum \limits _{k=1}^D {\delta \theta _k \cdot \left( {\sum \limits _{n=1}^D {{\varvec{T}}^\mathrm{H}\left[ {{\varvec{a}}\left[ {\theta _{0n} } \right] } \right] \cdot {\varvec{\varPi }}_{{\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }^\bot \cdot ( {{\varvec{\dot{b}}}\left[ {\theta _{0k} } \right] \otimes {\varvec{i}}_D^{( k)\mathrm{T}} })\cdot {\varvec{B}}^\mathrm{\dag }\left[ {{\varvec{\theta }}_0 } \right] \cdot {\varvec{b}}\left[ {\theta _{0n} } \right] } }\right) } \nonumber \\&= -( {{\varvec{mi}}_L^{( 1)\mathrm{T}} -{\varvec{I}}_L })\cdot \left\{ {{\varvec{\varPhi }}\left[ {{\varvec{\theta }}_0 ,{\varvec{E}}_0 } \right] } \right\} ^\mathrm{\dag }\nonumber \\&\times \sum \limits _{k=1}^D {\delta \theta _k \cdot \left( {\sum \limits _{n=1}^D {{\varvec{T}}^\mathrm{H}\left[ {{\varvec{a}}\left[ {\theta _{0n} } \right] } \right] \cdot {\varvec{\varPi }}_{{\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }^\bot \cdot ( {{\varvec{\dot{b}}}\left[ {\theta _{0k} } \right] \otimes {\varvec{i}}_D^{( k)\mathrm{T}} })\cdot {\varvec{i}}_D^{( n)} } }\right) } \end{aligned}$$
(49)

where the second equality follows from the orthogonal relationship as below:

$$\begin{aligned} {\varvec{\varPi }}_{{\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }^\bot \cdot {\varvec{T}}\left[ {{\varvec{a}}\left[ {\theta _{0n} } \right] } \right] \cdot {\varvec{m}}={\varvec{O}}_{N\times 1} \quad ( {n=1, 2, \ldots , D}) \end{aligned}$$
(50)

and the third equality is a result of the following identity:

$$\begin{aligned} {\varvec{B}}^\mathrm{\dag }\left[ {{\varvec{\theta }}_0 } \right] \cdot {\varvec{b}}\left[ {\theta _{0n} } \right] ={\varvec{B}}^\mathrm{\dag }\left[ {{\varvec{\theta }}_0 } \right] \cdot {\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] \cdot {\varvec{i}}_D^{( n)} ={\varvec{i}}_D^{( n)} \quad ( {n=1, 2, \ldots , D}) \end{aligned}$$
(51)

In addition, it can be easily checked that

$$\begin{aligned} ( {{\varvec{\dot{b}}}\left[ {\theta _{0k} } \right] \otimes {\varvec{i}}_D^{( k)\mathrm{T}} })\cdot {\varvec{i}}_D^{( n)} =\delta _{nk} \cdot {\varvec{\dot{b}}}\left[ {\theta _{0k} } \right] \quad ( {n, k=1, 2, \ldots , D}) \end{aligned}$$
(52)

which combined with (49) yields

$$\begin{aligned} {\varvec{\delta m}}&\approx \sum \limits _{k=1}^D {\delta \theta _k \cdot ( {{\varvec{I}}_L -{\varvec{mi}}_L^{( 1)\mathrm{T}} })\cdot \left\{ {{\varvec{\varPhi }}\left[ {{\varvec{\theta }}_0 ,{\varvec{E}}_0 } \right] } \right\} ^\mathrm{\dag }\cdot {\varvec{T}}^\mathrm{H}\left[ {{\varvec{a}}\left[ {\theta _{0k} } \right] } \right] \cdot {\varvec{\varPi }}_{{\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }^\bot \cdot {\varvec{\dot{b}}}\left[ {\theta _{0k} } \right] }\nonumber \\&= \sum \limits _{k=1}^D {\delta \theta _k \cdot {\varvec{\xi }}_k } \end{aligned}$$
(53)

where \({\varvec{\xi }}_k \) is defined in (26). At this point, the proof of (25) is ended.

Appendix 2: Proof of (30)

Differentiating (8) with respect to \(\theta _k \) gives

$$\begin{aligned} {\varvec{\dot{A}}}_{\varvec{W}}^{( k)} \left[ {{\varvec{\theta }}_0 } \right]&= \left. {\frac{\partial {\varvec{A}}_{\varvec{W}} \left[ {\varvec{\theta }} \right] }{\partial \theta _k }} \right| _{{\varvec{\theta }}={\varvec{\theta }}_0 } {=}\left. {\frac{\partial {\varvec{A}}\left[ {\varvec{\theta }} \right] }{\partial \theta _k }} \right| _{{\varvec{\theta }}={\varvec{\theta }}_0 } {\cdot } {\varvec{W}}{\cdot } {\varvec{A}}^\mathrm{H}\left[ {{\varvec{\theta }}_0 } \right] {+}{\varvec{A}}\left[ {{\varvec{\theta }}_0 } \right] {\cdot } {\varvec{W}}{\cdot } \left. {\frac{\partial {\varvec{A}}^\mathrm{H}\left[ {\varvec{\theta }} \right] }{\partial \theta _k }} \right| _{{\varvec{\theta }}={\varvec{\theta }}_0 } \nonumber \\&=( {{\varvec{\dot{a}}}\left[ {\theta _k } \right] \otimes {\varvec{i}}_D^{( k)\mathrm{T}} })\cdot {\varvec{W}}\cdot {\varvec{A}}^\mathrm{H}\left[ {{\varvec{\theta }}_0 } \right] +{\varvec{A}}\left[ {{\varvec{\theta }}_0 } \right] \cdot {\varvec{W}}\cdot ( {{\varvec{\dot{a}}}^\mathrm{H}\left[ {\theta _k } \right] \otimes {\varvec{i}}_D^{( k)} }) \nonumber \\&={\varvec{\dot{P}}}^{( k)}\left[ {{\varvec{\theta }}_0 } \right] \cdot {\varvec{P}}^\mathrm{H}\left[ {{\varvec{\theta }}_0 } \right] +{\varvec{P}}\left[ {{\varvec{\theta }}_0 } \right] \cdot {\varvec{\dot{P}}}^{( k)\text{ H }}\left[ {{\varvec{\theta }}_0 } \right] \end{aligned}$$
(54)

which together with the matrix identity

$$\begin{aligned} \text{ vec }\left[ {{\varvec{X}}_{1} {\varvec{X}}_{2} {\varvec{X}}_{3} } \right] =( {{\varvec{X}}_{3}^\mathrm{T} \otimes {\varvec{X}}_{1} })\cdot \text{ vec }\left[ {{\varvec{X}}_{2} } \right] \end{aligned}$$
(55)

Implies

$$\begin{aligned}&\text{ vec }\left[ {{\varvec{\dot{A}}}_{\varvec{W}}^{( k)} \left[ {{\varvec{\theta }}_0 } \right] } \right] \nonumber \\&\quad =\text{ vec }\left[ {\left( {{\varvec{\dot{a}}}\left[ {\theta _k } \right] \otimes {\varvec{i}}_D^{( k)\mathrm{T}} }\right) \cdot {\varvec{W}}\cdot {\varvec{A}}^\mathrm{H}\left[ {{\varvec{\theta }}_0 } \right] +{\varvec{A}}\left[ {{\varvec{\theta }}_0 } \right] \cdot {\varvec{W}}\cdot \left( {{\varvec{\dot{a}}}^\mathrm{H}\left[ {\theta _k } \right] \otimes {\varvec{i}}_D^{( k)} }\right) } \right] \nonumber \\&\quad =( {{\varvec{P}}^*\left[ {{\varvec{\theta }}_0 } \right] \otimes {\varvec{I}}_N })\cdot \text{ vec }\left[ {{\varvec{\dot{P}}}^{( k)}\left[ {{\varvec{\theta }}_0 } \right] } \right] +( {{\varvec{I}}_N \otimes {\varvec{P}}\left[ {{\varvec{\theta }}_0 } \right] }){\varvec{\varPi }}_{N\bullet D} \cdot \text{ vec }\left[ {{\varvec{\dot{P}}}^{( k)*}\left[ {{\varvec{\theta }}_0 } \right] } \right] \nonumber \\ \end{aligned}$$
(56)

where \({\varvec{\varPi }}_{N\bullet D} \) is the permutation matrix such that \(\text{ vec }\left[ {{\varvec{\dot{P}}}^{( k)\mathrm{T}}\left[ {{\varvec{\theta }}_0 } \right] } \right] ={\varvec{\varPi }}_{N\bullet D} \cdot \text{ vec }\left[ {{\varvec{\dot{P}}}^{( k)}\left[ {{\varvec{\theta }}_0 } \right] } \right] \).

Moreover, it can be readily shown from (56) that

$$\begin{aligned}&\overline{\text{ vec }\left[ {{\varvec{\dot{A}}}_{\varvec{W}}^{( k)} \left[ {{\varvec{\theta }}_0 } \right] } \right] }\nonumber \\&\quad =\overline{\overline{{\varvec{P}}^*\left[ {{\varvec{\theta }}_0 } \right] \otimes {\varvec{I}}_N }} \cdot \overline{\text{ vec }\left[ {{\varvec{\dot{P}}}^{( k)}\left[ {{\varvec{\theta }}_0 } \right] } \right] } +\overline{\overline{( {{\varvec{I}}_N \otimes {\varvec{P}}\left[ {{\varvec{\theta }}_0 } \right] }){\varvec{\varPi }}_{N\bullet D} }} \cdot \overline{\text{ vec }\left[ {{\varvec{\dot{P}}}^{( k)*}\left[ {{\varvec{\theta }}_0 } \right] } \right] } \nonumber \\&\quad =\left( {\overline{\overline{{\varvec{P}}^*\left[ {{\varvec{\theta }}_0 } \right] \otimes {\varvec{I}}_N }} +\overline{\overline{( {{\varvec{I}}_N \otimes {\varvec{P}}\left[ {{\varvec{\theta }}_0 } \right] }){\varvec{\varPi }}_{N\bullet D} }} \cdot {\varvec{J}}_{\text{2 }ND}^{( 1)} }\right) \cdot \overline{\text{ vec }\left[ {{\varvec{\dot{P}}}^{( k)}\left[ {{\varvec{\theta }}_0 } \right] } \right] } \end{aligned}$$
(57)

which produces

$$\begin{aligned}&\text{ vec }\left[ {{\varvec{\dot{P}}}^{( k)}\left[ {{\varvec{\theta }}_0 } \right] } \right] \nonumber \\&\quad ={\varvec{J}}_{\text{2 }ND}^{( 2)} ( {\overline{\overline{{\varvec{P}}^*\left[ {{\varvec{\theta }}_0 } \right] \otimes {\varvec{I}}_N }} +\overline{\overline{( {{\varvec{I}}_N \otimes {\varvec{P}}\left[ {{\varvec{\theta }}_0 } \right] }){\varvec{\varPi }}_{N\bullet D} }} \cdot {\varvec{J}}_{\text{2 }ND}^{( 1)} })^\mathrm{\dag }\cdot \overline{\text{ vec }\left[ {{\varvec{\dot{A}}}_{\varvec{W}}^{( k)} \left[ {{\varvec{\theta }}_0 } \right] } \right] }\nonumber \\ \end{aligned}$$
(58)

It then follows directly from (58) that

$$\begin{aligned}&\!\!\!{\varvec{\dot{p}}}_n^{( k)} \left[ {{\varvec{\theta }}_0 } \right] \nonumber \\&~ =\text{ avec }\left[ {{\varvec{J}}_{\text{2 }ND}^{( 2)} ( {\overline{\overline{{\varvec{P}}^*\left[ {{\varvec{\theta }}_0 } \right] \otimes {\varvec{I}}_N }} \,\,{+}\,\,\overline{\overline{( {{\varvec{I}}_N \otimes {\varvec{P}}\left[ {{\varvec{\theta }}_0 } \right] }){\varvec{\varPi }}_{N\bullet D} }} \cdot {\varvec{J}}_{\text{2 }ND}^{( 1)} })^\mathrm{\dag }\cdot \overline{\text{ vec }\left[ {{\varvec{\dot{A}}}_{\varvec{W}}^{( k)} \left[ {{\varvec{\theta }}_0 } \right] } \right] } } \right] {\cdot } {\varvec{i}}_D^{( n)}\!\nonumber \\ \end{aligned}$$
(59)

Hence, Eq. (30) is proved.

Appendix 3: Proof of (44)

First, due to the structure of \(\overline{{\varvec{\tilde{I}}}_L {\varvec{m}}} =\left[ {{\begin{array}{ll} {( {{\varvec{\tilde{I}}}_L \cdot \text{ Re }\left\{ {\varvec{m}} \right\} })^\mathrm{T}} &{} {( {{\varvec{\tilde{I}}}_L \cdot \text{ Im }\left\{ {\varvec{m}} \right\} })^\mathrm{T}} \\ \end{array} }} \right] ^{\,\,\mathrm{T}}\), the \({\varvec{m}}\)-block of the Fisher information matrix \(\mathbf{FISH}_{{\varvec{mm}}} \) can be partitioned equally along the rows and columns, respectively, as below:

$$\begin{aligned} \mathbf{FISH}_{{\varvec{mm}}} =\left[ \begin{array}{l@{\quad }l} {{\varvec{\tilde{I}}}_L \cdot \mathbf{FISH}_{{\varvec{mm}}}^{( {11})} \cdot {\varvec{\tilde{I}}}_L^\mathrm{T} } &{} {{\varvec{\tilde{I}}}_L \cdot \mathbf{FISH}_{{\varvec{mm}}}^{( {12})} \cdot {\varvec{\tilde{I}}}_L^\mathrm{T} }\\ {{\varvec{\tilde{I}}}_L \cdot \mathbf{FISH}_{{\varvec{mm}}}^{( {21})} \cdot {\varvec{\tilde{I}}}_L^\mathrm{T} } &{} {{\varvec{\tilde{I}}}_L \cdot \mathbf{FISH}_{{\varvec{mm}}}^{( {22})} \cdot {\varvec{\tilde{I}}}_L^\mathrm{T} }\\ \end{array}\right] \end{aligned}$$
(60)

Applying (42), it follows that

$$\begin{aligned} \left\langle {\mathbf{FISH}_{{\varvec{mm}}}^{( {11})} } \right\rangle _{nl}&= \frac{\text{2 }K}{\sigma ^2}\cdot \mathrm{Re}\left\{ {\text{ trace }\left[ {\frac{\partial {\varvec{B}}^\mathrm{H}\left[ {{\varvec{\theta }}_0 } \right] }{\partial \left\langle {\text{ Re }\left\{ {\varvec{m}} \right\} } \right\rangle _n }\cdot {\varvec{\varPi }}_{{\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }^\bot \cdot \frac{\partial {\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }{\partial \left\langle {\text{ Re }\left\{ {\varvec{m}} \right\} } \right\rangle _l }{\varvec{W}}_{\text{ NSF }} } \right] } \right\} \nonumber \\&= \frac{\text{2 }K}{\sigma ^2}\sum \limits _{k_1 =1}^D \sum \limits _{k_2 =1}^D \mathrm{Re}\left\{ \text{ trace }\left[ \left\langle {{\varvec{W}}_{\text{ NSF }} } \right\rangle _{k_2 k_1 } \cdot {\varvec{\varPi }}_{{\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }^\bot \cdot {\varvec{T}}\left[ {{\varvec{a}}\left[ {\theta _{0k_2 } } \right] } \right] \cdot {\varvec{i}}_L^{( l)} {\varvec{i}}_L^{( n)\mathrm{T}} \right. \right. \nonumber \\&\left. \left. \cdot \,{\varvec{T}}^\mathrm{H}\left[ {{\varvec{a}}\left[ {\theta _{0k_1 } } \right] } \right] \right] \right\} \nonumber \\&= \frac{\text{2 }K}{\sigma ^2}\sum \limits _{k_1 =1}^D {\sum \limits _{k_2 =1}^D {\mathrm{Re}\left\{ {\left\langle {{\varvec{W}}_{\text{ NSF }} } \right\rangle _{k_2 k_1 } {\cdot } \left\langle {{\varvec{T}}^\mathrm{H}\left[ {{\varvec{a}}\left[ {\theta _{0k_1 } } \right] } \right] \cdot {\varvec{\varPi }}_{{\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }^\bot {\cdot } {\varvec{T}}\left[ {{\varvec{a}}\left[ {\theta _{0k_2 } } \right] } \right] } \right\rangle _{nl} } \right\} } }\nonumber \\ \end{aligned}$$
(61)

which implies

$$\begin{aligned} \mathbf{FISH}_{{\varvec{mm}}}^{( {11})}&= \frac{\text{2 }K}{\sigma ^2}\sum \limits _{k_1 =1}^D {\sum \limits _{k_2 =1}^D {\mathrm{Re}\left\{ {\left\langle {{\varvec{W}}_{\text{ NSF }} } \right\rangle _{k_2 k_1 } \cdot {\varvec{T}}^\mathrm{H}\left[ {{\varvec{a}}\left[ {\theta _{0k_1 } } \right] } \right] \cdot {\varvec{\varPi }}_{{\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }^\bot \cdot {\varvec{T}}\left[ {{\varvec{a}}\left[ {\theta _{0k_{2} } } \right] } \right] } \right\} } } \nonumber \\&= \frac{\text{2 }K}{\sigma ^2}\sum \limits _{k_1 =1}^D {\sum \limits _{k_2 =1}^D {\mathrm{Re}\left\{ {{\varvec{\Sigma }}_{k_2 k_1 } } \right\} } } \end{aligned}$$
(62)

where \({\varvec{\Sigma }}_{k_2 k_1 } \) is defined in (45). Likewise, it can be readily seen that

$$\begin{aligned} \left\{ \begin{array}{l} \mathbf{FISH}_{{\varvec{mm}}}^{( {\text{12 }})} =-\mathbf{FISH}_{{\varvec{mm}}}^{( {21})} =-\frac{2K}{\sigma ^\mathrm{2}}\sum \limits _{k_1 =1}^D {\sum \limits _{k_2 =1}^D {\mathrm{Im}\left\{ {{\varvec{\Sigma }}_{k_2 k_1 } } \right\} } } \\ \mathbf{FISH}_{{\varvec{mm}}}^{( {\text{22 }})} =\mathbf{FISH}_{{\varvec{mm}}}^{( {\text{11 }})} =\frac{2K}{\sigma ^\mathrm{2}}\sum \limits _{k_1 =1}^D {\sum \limits _{k_2 =1}^D {\mathrm{Re}\left\{ {{\varvec{\Sigma }}_{k_2 k_1 } } \right\} } } \\ \end{array} \right. \end{aligned}$$
(63)

which proves the first equation in (44).

Also, the upper right \(\text{2 }( {L-1})\times D\) corner of the Fisher information matrix \(\mathbf{FISH}_{{\varvec{m\theta }}} \) can be uniformly partitioned along the rows as

$$\begin{aligned} \mathbf{FISH}_{{\varvec{m\theta }}} =\left[ \begin{array}{l} {{\varvec{\tilde{I}}}_L \cdot \mathbf{FISH}_{{\varvec{m\theta }}}^{( 1)} } \\ {{\varvec{\tilde{I}}}_L \cdot \mathbf{FISH}_{{\varvec{m\theta }}}^{( 2)} } \\ \end{array} \right] \end{aligned}$$
(64)

Recalling (42) leads to

$$\begin{aligned} \left\langle {\mathbf{FISH}_{{\varvec{m\theta }}}^{( 1)} } \right\rangle _{nl}&= \frac{\text{2 }K}{\sigma ^2}\cdot \mathrm{Re}\left\{ \text{ trace }\left[ \frac{\partial {\varvec{B}}^\mathrm{H}\left[ {{\varvec{\theta }}_0 } \right] }{\partial \left\langle {\mathrm{Re}\left\{ {\varvec{m}} \right\} } \right\rangle _n }\cdot {\varvec{\varPi }}_{{\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }^\bot \cdot \frac{\partial {\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }{\partial \left\langle {{\varvec{\theta }}_0 } \right\rangle _l }\cdot {\varvec{W}}_{\text{ NSF }} \right] \right\} \nonumber \\&= \frac{\text{2 }K}{\sigma ^2}\sum \limits _{k=1}^D {\mathrm{Re}\left\{ {\text{ trace }\left[ {{\varvec{i}}_L^{( n)\mathrm{T}} \cdot {\varvec{T}}^\mathrm{H}\left[ {{\varvec{a}}\left[ {\theta _{0k} } \right] } \right] \cdot {\varvec{\varPi }}_{{\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }^\bot \cdot {\varvec{\dot{B}}}\left[ {{\varvec{\theta }}_0 } \right] \cdot {\varvec{i}}_D^{( l)} {\varvec{i}}_D^{( l)\mathrm{T}} {\varvec{W}}_{\text{ NSF }} {\varvec{i}}_D^{( k)} } \right] } \right\} } \nonumber \\&= \frac{\text{2 }K}{\sigma ^2}\sum \limits _{k=1}^D {\mathrm{Re}\left\{ {\left\langle {{\varvec{T}}^\mathrm{H}\left[ {{\varvec{a}}\left[ {\theta _{0k} } \right] } \right] \cdot {\varvec{\varPi }}_{{\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }^\bot \cdot {\varvec{\dot{B}}}\left[ {{\varvec{\theta }}_0 } \right] } \right\rangle _{nl} \cdot \left\langle {{\varvec{W}}_{\text{ NSF }} } \right\rangle _{lk} } \right\} } \end{aligned}$$
(65)

which gives

$$\begin{aligned} \mathbf{FISH}_{{\varvec{m\theta }}}^{( 1)} =\frac{2K}{\sigma ^2}\sum \limits _{k=1}^D {\mathrm{Re}\left\{ {( {{\varvec{T}}^\mathrm{H}\left[ {{\varvec{a}}\left[ {\theta _{0k} } \right] } \right] \cdot {\varvec{\varPi }}_{{\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }^\bot \cdot {\varvec{\dot{B}}}\left[ {{\varvec{\theta }}_0 } \right] })\bullet ( {{\varvec{1}}_{L\times 1} \otimes ( {{\varvec{W}}_{\text{ NSF }} {\varvec{i}}_D^{( k)} })^\mathrm{T}})} \right\} }\nonumber \\ \end{aligned}$$
(66)

Similarly, it can be easily deduced that

$$\begin{aligned} \mathbf{FISH}_{{\varvec{m\theta }}}^{( 2)} =\frac{2K}{\sigma ^2}\sum \limits _{k=1}^D {\mathrm{Im}\left\{ {( {{\varvec{T}}^\mathrm{H}\left[ {{\varvec{a}}\left[ {\theta _{0k} } \right] } \right] \cdot {\varvec{\varPi }}_{{\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }^\bot \cdot {\varvec{\dot{B}}}\left[ {{\varvec{\theta }}_0 } \right] })\bullet ( {{\varvec{1}}_{L\times 1} \otimes ( {{\varvec{W}}_{\text{ NSF }} {\varvec{i}}_D^{( k)} })^\mathrm{T}})} \right\} }\nonumber \\ \end{aligned}$$
(67)

Equations (66) and (67) together prove the second equation in (44).

Finally, invoking (42) once again produces

$$\begin{aligned} \left\langle {\mathbf{FISH}_{{\varvec{\theta \theta }}} } \right\rangle _{nl}&= \frac{\text{2 }K}{\sigma ^2}\cdot \mathrm{Re}\left\{ {\text{ trace }\left[ {\frac{\partial {\varvec{B}}^\mathrm{H}\left[ {{\varvec{\theta }}_0 } \right] }{\partial \left\langle {{\varvec{\theta }}_0 } \right\rangle _n }\cdot {\varvec{\varPi }}_{{\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }^\bot \cdot \frac{\partial {\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }{\partial \left\langle {{\varvec{\theta }}_0 } \right\rangle _l }\cdot {\varvec{W}}_{\text{ NSF }} } \right] } \right\} +\left\langle {{\varvec{R}}_{{\varvec{\theta \theta }}}^{-1} } \right\rangle _{nl} \!\!\!\nonumber \\&= \frac{\text{2 }K}{\sigma ^2}\mathrm{Re}\left\{ {\text{ trace }\left[ {{\varvec{i}}_D^{( n)} {\varvec{i}}_D^{( n)\mathrm{T}} \cdot {\varvec{\dot{B}}}^\mathrm{H}\left[ {{\varvec{\theta }}_0 } \right] \cdot {\varvec{\varPi }}_{{\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }^\bot \cdot {\varvec{\dot{B}}}\left[ {{\varvec{\theta }}_0 } \right] \cdot {\varvec{i}}_D^{( l)} {\varvec{i}}_D^{( l)\mathrm{T}} {\varvec{W}}_{\text{ NSF }} } \right] } \right\} \!\!\! \nonumber \\&= \frac{\text{2 }K}{\sigma ^2}\mathrm{Re}\left\{ {\left\langle {{\varvec{\dot{B}}}^\mathrm{H}\left[ {{\varvec{\theta }}_0 } \right] \cdot {\varvec{\varPi }}_{{\varvec{B}}\left[ {{\varvec{\theta }}_0 } \right] }^\bot \cdot {\varvec{\dot{B}}}\left[ {{\varvec{\theta }}_0 } \right] } \right\rangle _{nl} \cdot \left\langle {{\varvec{W}}_{\text{ NSF }}^\mathrm{T} } \right\rangle _{nl} } \right\} +\left\langle {{\varvec{R}}_{{\varvec{\theta \theta }}}^{-1} } \right\rangle _{nl} \end{aligned}$$
(68)

which proves the third equality in (44).

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Wang, D., Ke, K., Zhang, X. et al. Robust Calibration Algorithm for Multiplicative Modeling Errors Against Location Deviations of Auxiliary Sources. Circuits Syst Signal Process 33, 2495–2519 (2014). https://doi.org/10.1007/s00034-014-9754-0

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