Recursive least squares solution to source tracking using time difference of arrival

A simple recursive tracking algorithm for moving sources is developed based on time difference of arrival (TDOA) measurements. The proposed algorithm uses location estimates obtained from a stationary source localization algorithm and smoothes them according to a general motion model for the source. The motion model allows for source acceleration. A unified treatment of the iterative maximum likelihood and closed-form least squares algorithms for source localization by TDOA is presented. The ability of the proposed tracking algorithm to track maneuvering sources is demonstrated in simulation examples.