Comparison of Recursive Algorithms for Emitter Localisation using TDOA Measurements from a Pair of UAVs

This paper presents a comparative analysis of three nonlinear filters for estimation of the location and velocity of a moving emitter, using time difference of arrival (TDOA) measurements received by two unmanned aerial vehicles (UAVs) as they traverse the surveillance region. The TDOA measurements are generated over time by comparing and subtracting leading edge time of arrivals (TOAs) of signals. The Cramer Rao lower bound (CRLB) of estimation errors is derived and used as the benchmark in performance analysis. The three nonlinear filters considered in the comparison are: a Gaussian mixture measurement integrated track splitting filter (GMM-ITSF), a multiple model filter with unscented Kalman filters (UKFs) and a multiple-model filter with extended Kalman filters (EKFs).