Robust Second-Order Cone Relaxation for TW-TOA-Based Localization With Clock Imperfection

In this letter, the two-way time-of-arrival (TW-TOA)-based localization problem with clock imperfections in an asynchronous network is addressed. In the TW-TOA measurement model, the unknown turn-around times and clock skews may significantly degrade the localization performance. Under the assumption that the ranges of the turn-around times and the upper bound of the clock skews are known, we propose a robust least squares (RLS) formulation by taking the turn-around times and the clock skews as nuisance parameters. The RLS problem is approximately solved by employing the second-order cone relaxation technique. Simulation results illustrate the superior performance of the proposed method over the existing methods.