Solving the heterogeneous positioning problem via eigen-decomposition

An eigen-decomposition approach to determine the position given a set of heterogeneous measurements is presented. It is shown that the methods based on time of arrival, time difference of arrival, and angle of arrival principles can all be cast in terms of quadratic equalities. In the two-dimensional case, all solutions to the simultaneous quadratic equations can be determined by solving an eigenvalue/eigenvector problem. An example is provided to illustrate the approach.