Robust Localization With Minimum Number of TDoA Measurements

This letter looks at the theoretical conditions underpinning unique localization of an emitter using Time-Delay-of-Arrival(TDoA) from minimum number of sensors in 2-D and 3-D space. A discussion is carried out on the unique localization region with the TDoA measurements subjected to a bounded error. For both 2-D and 3-D, error bounds have been found, beyond which, there is no existence of the unique solution region.