Nuisance parameter exploitation for accurate 3D hyperbolic geolocation - Field results

A closed-form least-squares (CFLS) solution, based on time-difference-of-arrival (TDOA) measurements for the three-dimensional position estimation problem, has been modified. The available nuisance parameter, which is the range estimate to the master beacon, has been exploited to overcome ill-conditioned situations. The utilization of this nuisance parameter showed to be very useful in delivering accurate estimates of the vertical position, even in quasi co-planar measurement geometries. The developed approach has been validated with real-world measurements generated by a pseudolite transmitter system.