Robust Source Localization Using TDOA with Receiver Location Errors

Considering the problem that the existing localization methods have many nonlinear operations, which makes the error easy to transfer, and have rank-deficient matrix, which leads to weak robustness and low location accuracy, this paper proposes a time difference of arrival(TDOA) localization method based on error correction under the condition of sensor location error. Firstly, the location equation was pseudo-linearized by introducing nuisance variable, and the weighted least squares(WLS) method was used to obtain the initial estimate of the target location. Then, the nonlinear function relation between the nuisance variable and the target location was used to construct and solve the equation about the target location error, and the initial estimated target position was rectified linearly to obtain a more accurate final estimation result. Theoretical analysis showed that the proposed method can reach Cramer-Rao lower bound(CRLB) when the noise is weak, and has higher location accuracy and robustness than the existing localization methods. Simulation results showed that the proposed method has better performance.