Does anybody know a source that illustrates the algorithm to use TDOA method to locate a transmitter? Would the equations to solve (x, y, z) of the transmitter location linear or non-linear? How about the iterative algorithm to locate a transmitter based on TDOA measurements?

  • $\begingroup$ I believe it's called the "submarine problem" but I haven't got a reference to it. I did the analysis for a surface a long time ago. Basically you want a triangle of sensors with one in the middle. If you need more I will dig up that solution. I think the final thing I used to resolve the set of equations was a Groebner analysis; although I am sure Maxima will solve them, but use the "supplemental" solution! It's thorough in my experience. A square area has ambiguities. $\endgroup$
    – rrogers
    Commented Sep 8, 2020 at 19:28


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