Enhanced WSN localization of moving nodes using a robust hybrid TDOA-PF approach

This paper presents a technique for enhanced localization of moving nodes in Wireless Sensor Networks (WSNs). The proposed technique is based on the use of Time Difference of Arrival (TDOA) along with Particle Filter (PF) method which is demonstrated to be capable of accurate detection since each particle in the PF represents a state which translates into the moving node location in the case of TDOA localization. The proposed technique outperforms other filtering methods, such as the Extended Kalman Filter (EKF) and the Unscented Kalman Filter (UKF), which are restricted to Gaussian distribution of the moving nodes. Numerical simulations verify the accuracy and robustness of the proposed TDOA-PF localization technique.