Multidimensional scaling-based passive emitter localization from TOA measurements with sensor position uncertainties

If the sensor positions are not precise, the localization accuracy is significantly degraded. This paper derives a weighted multidimensional scaling estimator for estimating the position of a stationary emitter with sensor position uncertainties using time of arrival measurements. It is an effective and closed-form solution. Simulation results show that the proposed estimator can achieve the Cramer-Rao lower bound performance over small noise region and it performs better than the two-step weighted least squares approach and traditional multidimensional scaling estimator ignoring sensor positions uncertainty.