Abstract
Time difference of arrival geolocation is re-analysed exploiting all available time differences, though sticking to closed-form algorithms based on the minimum number of time differences. The additional information is statistically utilised in a sound way. Error estimates for the resulting position and the Cramer-Rao lower bound are derived. The two-dimensional case has explicitly been demonstrated for three and four sensors using three and six-time differences. Results are confirmed by Monte Carlo simulations, indeed showing improved accuracy. A comparison with an existing localisation method is presented as well. The three-dimensional localisation scenario can be analysed analogously.
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