Accuracy Study on Joint Source and Sensor Localization Using DOA and TDOA Measurements with Clock Biases

This paper addresses the problem of joint sensor and signal source localization using direction-of-arrival (DOA) and time-difference-of-arrival (TDOA) measurements from a sensor network, with an emphasis on accounting for sensor clock biases. The only requirements are that the position of one sensor is known in order to resolve ambiguities with regard to the position displacements and that the orientations of the sensors are known. Clock biases are incorporated into both the measurement model and the estimation process. The CramérRao Bound (CRB) is derived for the joint localization problem. We propose an estimation strategy based on an alternating optimization approach which decouples the position and bias estimation subproblems. Simulation results show that the root mean square error (RMSE) of the estimations attains the CRB and that the synchronization offsets can be recovered accurately.