An integrated closed-form fusion algorithm for TDOA/AOA

Target positioning in 3D based on TDOA (time difference of arrival) measurements is a challenging problem. This paper will design a novel integrated closed-form (ICF) fusion algorithm by bringing in an ancillary-variable, which could be uniformly applicable to TDOA, AOA, as well as TDOA+AOA. This ICF fusion algorithm is stable and robust for any sensor network distribution and applicable for 3D position estimation with as few as two sensors with both TOA and DOA measurements. The effectiveness and accuracy of the algorithm for different kind of sensor distributions have been illustrated with a number of simulation examples.