A mobile telephone locating method with erroneous observer positions based on TDOA

The random measuring error of observer position plays an important role in mobile telephone localization, because it may seriously influence the locating performance of traditional methods like Chan, Friedlander, Taylor series etc. This paper presents a method for accomplishing mobile telephone localization when the observer position contains random measuring error. The proposed method establishes observation equation using both TDOA measurement and observer coordinate measurement, achieves linearization through Taylor series expansion, then implements iterative algorithm based on weighted LS, estimates mobile telephone position and observer positions simultaneously. The simulation results of different observer number indicate that the locating accuracy of the proposed method can approach CRLB, regardless of the GDOP value.