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This paper studies the positioning problem based on two-way time-of-arrival(TW-TOA) measurements in asynchronous wireless sensor networks. Since theoptimal estimator for this problem involves difficult nonconvex optimization,we propose two suboptimal estimators based on squared-range least squares andleast absolute mean of residual errors. The former approach is formulated as ageneral trust region subproblem which can be solved exactly under mildconditions. The latter approach is formulated as a difference of convexfunctions programming (DCP), which can be solved using a concave-convexprocedure. Simulation results illustrate the high performance of the proposedtechniques, especially for the DCP approach.

TW-TOA Based Positioning in the Presence of Clock Imperfections