Here, the algorithms used to compute the target position using Time Difference Of Arrival (TDOA) are explained
These files are used to simulate a target trajectory and compute its position based ond TDOA, we have used 4 base stations as landmarks but can be modified. The algorithms used are: 1- Particle Filter (PF) 2- Maximum A Posterior (MAP) estimation 3- MAP with marginalizing old states (MAP-M) 4- Close-form Weighted Least Square (WLS) 5- Iterative method with Maximum Likelihood (ML) estimation 6- A combination between WLS and ML (WLS-ML)
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I. Masmitja, J. Navarro, S. Gomariz, J. Aguzzi, B. Kieft, T. O’Reilly, K. Katija, P. J. Bouvet, C. Fannjiang, M. Vigo, P. Puig, A. Alcocer, G. Vallicrosa, N. Palomeras, M. Carreras, J. del Rio, J. B. Company, Mobile robotic platforms for the acoustic tracking of deep-sea demersal fishery resources. Sci. Robot. 5, eabc3701 (2020).