Overcoming singularities in TDoA Based location estimation using Total Least Square

In this paper, we propose an estimation scheme to overcome singularities which may deteriorate Time Difference of Arrival (TDoA) based localization accuracy when using Least Square (LS) estimator. The solution is based on Total Least Square (TLS) estimator. We provide an algorithm of localization which exploits the rank and the condition number of matrices in order to enhance accuracy. The Monte Carlo simulations show that the proposed algorithm outperforms the typical LS algorithm. It is also more robust to the erroneous TDoAs.