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Hybrid TDOA and AOA Localization Using Constrained Least Squares
Jungkeun OH Kyunghyun LEE Kwanho YOU
Publication
IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences
Vol.E98A
No.12
pp.27132718 Publication Date: 2015/12/01 Online ISSN: 17451337
DOI: 10.1587/transfun.E98.A.2713 Type of Manuscript: LETTER Category: Systems and Control Keyword: time difference of arrival, angle of arrival, constrained least square, localization, CRLB,
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Summary:
In this paper, we propose a localization algorithm that uses the time difference of arrival (TDOA) and the angle of arrival (AOA). The problem is formulated in a hybrid linear matrix equation. TDOA and AOA measurements are used for estimating the target's position. Although it is known that the accuracy of TDOA based localization is superior to that of AOA based localization, TDOA based localization has a poor vertical accuracy in deteriorated geometrical conditions. This paper, therefore, proposes a localization algorithm in which the vertical position is estimated by AOA measurements and the horizontal position is estimated by TDOA measurement in order to achieve high location accuracy in three dimensions. In addition, the Lagrange multipliers are obtained efficiently and robustly. The simulation analysis shows that the proposed constrained linear squares (CLS) algorithm is an unbiased estimator, and that it approaches the CramerRao lower bound (CRLB) when the measurement noise and the sensor's location errors are sufficiently small.

