TOA localization in the presence of random sensor position errors

Estimating the location of a signal source based on TOA measurements is an important problem in many applications. In the presence of sensor position errors, the accuracy of a source location estimate could be degraded significantly. This paper first derives the CRLB of the source location when sensor position errors are present. It continues to develop the theoretical increase in the mean-square error of a source location estimate when the sensor position errors are ignored. A closed-form solution of the source location that accounts for the sensor position uncertainties is then proposed. Simulations are performed to validate the CRLB performance of the proposed solution when the noise level is small.