LAUSR

A novel and practical combined weighted (COM-W) method for target localization based on time difference of arrival (TDOA) is proposed in this paper. For 2-D situations with more than three nodes, the main idea of the proposed method is to obtain multiple preliminary localization results corresponding to the different three-node combinations first, and then use the weighted averaging technique based on the Cramér–Rao lower bound (CRLB) to obtain the final estimation. Considering target localization with a set of fixed-positioning nodes employing TDOA measurements as an example, the performance of the proposed method is evaluated by both simulations and acoustic indoor positioning experiments. The experimental results show that the COM-W method is a closed-form and computationally efficient method. It has an excellent positioning performance under both narrow and square geometric arrangements, specifically in the central cross-shaped area and in the vicinity of the nodes. Compared to the three classic weighted linear least squares (WLS)-based positioning methods, the proposed COM-W method is less sensitive to the measurement noise and the NLOS environment. The proposed method has an important application value for the realization of a TDOA-based indoor target positioning system.