The error estimation and ambiguity of solution of 2-D time difference of arrival localization method

This article is focused on the analysis of the error estimation and the ambiguity of solution of the TDOA (Time Difference of Arrival) localization method in the 2-D space. First, the algorithm of hyperbolic equations solution is presented as a background for a derivation of a covariance matrix. Next, the covariance matrix is derived in analytical form. Finally, the conditions of the covariance matrix solvability are shown including influence of target height. The analytical solution of the covariance matrix is the main contribution of this article.