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Abstract
The problem how to improve the accuracy of passive localization from time differences of arrival received considerable interest. The localization performance of any unbiased estimator can be explicitly characterized by certain measures, for example, by the Cramer-Rao lower bound (CRLB) on the estimator variance. The lower the CRLB, the better localization performance. It is well known that the relative sensor-target geometry can significantly affect the performance of any particular localization algorithm. It demonstrates, when target is surrounded by the sensors, uniform angular array is the optimum sensor placement, in which the CRLB is minimized.
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