Passive source localization from time of arrival measurements

This paper addresses the problem of estimating the position of an emitting source using time of arrival data in the presence of additive measurement errors. It is assumed that the transmit time is not known or presents a bias and is therefore included in the estimation process of the position. A novel algorithm based on constrained quadratic optimization is developed to solve for the emitter position and transmit/bias time. The performance of the proposed localization method is compared with other existing TDOA-based positioning methods and the Cramer Rao Lower bound.