An iterative algorithm for the joint estimation of multiple targets and observation stations using direction of arrival and time difference of arrival measurements despite station position errors

Direction of arrival (DOA) and time difference (TDOA) hybrid localisation is an effective technique. Station position errors affect performance. Owing to the highly non-linear nature problem, there are few methods DOA/TDOA in presence station errors. Hence, iterative constrained weighted least squares (ICWLS) algorithm proposed estimate locations multiple targets stations for with To ensure convergence global optimal solution, non-convex equality constraints approximated linear during each iteration. The averaging strategy using results previous iteration used reduce number iterations. Theoretical analysis simulation show that ICWLS can reach Cramér–Rao lower bound. Additionally, performance better than a single target. has higher accuracy other be maintained when observation under ill-conditioned geometry.