Solving the fast moving vehicle localization problem via TDOA algorithms

We consider an anchor-free source-localization problem relevant to the control of fast moving vehicles, approaching a stop located indoors (stations, tunnels, warehouses, etc). A peculiarity of the problem is that both the location of fixed devices (access points) and the trajectory of the target (vehicle) are unknown. Two time-difference-of-arrival (TDOA)-based weighted least-squares (WLS) methods are considered to solve this problem are presented.