Efficient Joint Source and Sensor Localization in Closed-Form

This letter considers the problem of simultaneously locating multiple disjoint sources and refining erroneous sensor positions using TDOA measurements. The previous work by Yang and Ho to solve this problem cannot provide optimum accuracy for the sensor positions. The proposed estimator improves the previous method so that both the source and the sensor position estimates can achieve the Cramer-Rao lower bound (CRLB) accuracy. The theoretical derivation is corroborated by simulations.