An algorithm of restraining the receiver position errors for moving source localization using TDOA

This paper analyzes the observability of estimating simultaneously the initial position and velocity of a constant velocity source by two fixed receivers using TDOA measurements observed many a time. From the geometrical means of vector operations, it arrives at the conclusion that the conditions are similar to those in the general source localization by multi-receivers using TDOA. Then the Cramer-Rao lower bound with erroneous receiver positions is derived in this paper and an algorithm based on Taylor-series is proposed to restrain the errors. Both theoretical development and Monte Carlo simulations prove that the algorithm can reach the Cramer-Rao lower bound under Gaussian noise when it converges.