Emitter localization with kalman filter using TDOA

Most of the closed form Time Differences of Arrival (TDOA) location estimators depends on the range between the emitter and the sensors. In this work, the variation of the range is expressed by a motion model. Using the result, a Kalman Filter based recursive method has been developed. Location estimation is updated using TDOA measurement sets from moving receivers. The Cramer-Rao Lower Bound (CRLB) is also derived. Simulation results are drawn along with the CRLB and comments are given at the end of the text.