A Moving Source Localization Method Based on TDOA and TDOA Rate

In this paper, a novel moving source localization method based on arrival time measurement is proposed. Firstly, the time difference of arrival (TDOA) and its change rate are estimated from the time of arrival (TOA) sequences. Then an initial solution of position and velocity is obtained by applying the well-known two-step weighted least-squares (TSWLS) algorithm. The final solution, which is a joint estimation of position and velocity, is obtained by the Gauss-Newton iteration. Compared with the conventional range and rang rate differences based method, the proposed method eliminates the deviation caused by the Taylor series expansion. Numerical simulation results indicate that the proposed method can achieve higher position and velocity estimation accuracy under the condition of long cumulative time and small measurement error, and can approach the Cramer-Rao lower bound.