Robustness of TOA and TDOA Positioning Under Suboptimal Weighting Conditions

The performance robustness of time of arrival (TOA) and time difference of arrival (TDOA) is evaluated when measurement variances are not accurately known or are approximated. If the actual variances are applied, then TOA and TDOA are known to have equal performance. However, if suboptimal weighting matrices are applied either due to inaccurate knowledge of measurement error statistics or for simplified implementations in practice, there are performance losses proportional to the number of ranging sources.