# Covariance matrix estimation Chan and Ho position estimation method

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#### emeto

##### Newbie level 4
Hello,

I want to use the Chan and Ho position estimation method described in : "A simple and efficient estimator for hyperbolic location systems", IEEE, VOL 42,NO.8,AUGUST 1994
https://www.vtvt.ece.vt.edu/researc...le_location/estimator_hyperbolic_location.pdf

I want to use the simplified form of the covariance matrix Q on page 1911, but i cannot calculate the integral (44). The formula (44) relies on Formula (3).
Part: SIMULATION RESULTS: the cov. matrix Q is found from (3) to be the σ² for diagonal elements and 0.5σ² for all other elements, where σ² is the TDOA variance .
σ² is the TDOA variance = noise power ???

Can someone helps me to calculate the integral [0 Ω] :
(T/2pi)∫ ω²(S(ω)²/N(ω)²/(1+MS(ω)/N(ω)))dω)

S(ω) - signal power spectrum
N(ω) - noise power spectrum (AWGN)
Ω - frequency band processed
T- observation time
M- constant (number of sensors)

Thank you.

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