The spherical interpolation method of source localization
Julius O. Smith, Jonathan S. Abel · IEEE Journal of Oceanic Engineering · 1987
A closed-form least squares approximate maximum likelihood method for localization of broad-band emitters from time-difference-of-arrival (TDOA) measurements, called the spherical interpolation (SI) method, is presented. The localization formula is derived from least squares "equation-error" minimization. Computer simulation results show that the SI method has variance approaching the Cramer-Rap lower bound.