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This paper describes two new techniques for the joint estimation of source location and propagation speed using measured time difference of arrival (TDOA) for a sensor array. Previous methods for source location either assumed the array consisted of widely separated subarrays, or used an iterative procedure that required a good initial estimate. The first method directly estimates the source location and propagation speed by converting the solution of a system of nonlinear equations to an overdetermined system of linear equations with two supplemental variables. The second method provides improved estimates by using the solution of the first method as the initial condition for further iteration. The Cramer-Rao Bound (CRB) on the joint estimation is derived, and simulations show the new methods compare favorably to the bound.
Reed et al. (Fri,) studied this question.