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A widely used scheme for target localization is to measure the time of arrival of a wireless signal emitted by a tag, which requires the clocks of the anchors (receivers at known locations) to be accurately synchronized. Conventional systems rely on transmissions from a timing reference node at a known location for clock synchronization and therefore are susceptible to reference node failure. In this article, we propose a novel localization scheme which jointly estimates anchor clock offsets and target positions. The system does not require timing reference nodes and is completely passive (non-intrusive). The positioning algorithm is formulated as a maximum likelihood estimation problem, which is solved efficiently using an iterative linear least square method. The Cramer–Rao lower bound of positioning error is also analyzed. It is shown that the performance of the proposed scheme improves with the number of targets in the system and approaches that of a system with perfectly synchronized anchors.

Joint clock synchronization and position estimation in time of arrival–based passive positioning systems