Source localization using TDOA and FDOA measurements in the presence of receiver location errors: Analysis and solution

The accuracy of a source location estimate is very sensitive to the accurate knowledge of receiver locations. This paper performs analysis and develops a solution for locating a moving source using time-difference-of-arrival (TDOA) and frequency-difference-of-arrival (FDOA) measurements in the presence of random errors in receiver locations. The analysis starts with the Cramer-Rao lower bound (CRLB) for the problem, and derives the increase in mean-square error (MSE) in source location estimate if the receiver locations are assumed correct but in fact have error. A solution is then proposed that takes the receiver error into account to reduce the estimation error, And it is shown analytically, under some mild approximations, to achieve the CRLB accuracy for far-field sources. The proposed solution is closed form, computationally efficient, and does not have divergence problem as in iterative techniques. Simulations corroborate the theoretical results and the good performance of the proposed method.