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This letter proposes an improved version of the popular two-stage weighted least squares (TSWLS) algorithm for source localization using time difference of arrival (TDOA) measurements in the presence of sensor position errors. The new technique remains to be closed-form and approximately efficient as TSWLS. But it exhibits lower estimation bias and better robustness to increased noise over TSWLS via using a new Stage-2 processing, where the localization error of its Stage-1 is estimated and subtracted from the Stage-1 output to generate the final source position estimate. Simulations corroborate the theoretical developments.
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Liu et al. (2015) studied this question.
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