Joint Source Localization and Sensor Position Refinement With Extra Inter-Sensor Information

This letter deals with the problem of simultaneously locating the single source and refining erroneous sensor positions in a distributed network with the use of ground receivers whose positions are known a priori. Besides the external time delay (TD) measurements from sensors to ground receivers, we also exploit the inter-sensor TD measurements with the aim of improving the positioning accuracy. The devised scheme introduces the coupling terms of source and sensor locations as nuisance parameters to enable the formulation of pseudolinear equations, and then the problem could resort to a two-stage weighted least squares estimator. The scheme is shown in both theory and simulation to be capable of reaching the Cramer-Rao lower bound under the small measurement noise and small sensor position errors.