Time difference of arrival localisation exploiting all available time differences

Time difference of arrival geolocation is re‐analysed exploiting all available time differences, though sticking to closed‐form algorithms based on the minimum number of time differences. The additional information is statistically utilised in a sound way. Error estimates for the resulting position and the Cramer‐Rao lower bound are derived. The two‐dimensional case has explicitly been demonstrated for three and four sensors using three and six‐time differences. Results are confirmed by Monte Carlo simulations, indeed showing improved accuracy. A comparison with an existing localisation method is presented as well. The three‐dimensional localisation scenario can be analysed analogously.