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Localization of objects is fast becoming a major aspect of wireless technologies, with applications in logistics, surveillance, and emergency response. Time-of-arrival (TOA) localization is ideally suited for high-precision localization of objects in particular in indoor environments, where GPS is not available. This paper considers the case where one transmitter and multiple, distributed, receivers are used to estimate the location of a passive (reflecting) object. It furthermore focuses on the situation when the transmitter and receivers can be synchronized, so that TOA (as opposed to time-difference-of-arrival (TDOA)) information can be used. We propose a novel, Two-Step estimation (TSE) algorithm for the localization of the object. We then derive the Cramer-Rao Lower Bound (CRLB) for TOA and show that it is an order of magnitude lower than the CRLB of TDOA in typical setups. The TSE algorithm achieves the CRLB when the TOA measurements are subject to small Gaussian-distributed errors, which is verified by analytical and simulation results. Moreover, practical measurement results show that the estimation error variance of TSE can be 33 dB lower than that of TDOA based algorithms.
Shen et al. (Mon,) studied this question.