Alternate source and receiver location estimation using TDOA with receiver position uncertainties

The accuracy of source localization is sensitive to the knowledge of the receiver positions. In the presence of receiver position error, a robust algorithm is necessary to improve performance. This paper presents an iterative algorithm for estimating alternately the location of an emitter and the positions of receivers using time difference of arrival (TDOA) measurements, when the receivers have random position errors. The proposed solution is based on weighted least-squares (WLS) minimization, and does not have convergence problems. The estimated accuracy of emitter and receiver locations are approaching the CRLB under Gaussian noise with small receiver position error. The performance of the proposed algorithm is evaluated through simulations.