An approximately efficient estimator for moving source localization using multiple-time TDOA measurements

This paper is concerned with the problem of moving source localization using multiple-time time difference of arrival (TDOA) measurements collected by spatially distributed stationary receivers. We transform the nonlinear multiple-time TDOA equations into a set of pseudo-linear ones and then employ several weighted least-squares minimizations to obtain the source position and velocity estimates. The performance of the proposed solution is shown to be able to reach the Cramer-Rao lower bound (CRLB) accuracy by simulation studies when the TDOA measurement noises are sufficiently small.