An accurate algebraic solution for moving source location using TDOA and FDOA measurements

By Dominic K. C. Ho, Wenwei Xu. IEEE Transactions on Signal Processing, 2004

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Accurate Passive Location Estimation Using TOA Measurements (2012, positive): “Since ri − r̂i = ei, it follows that −a 2 i + b 2 i − r̂2i 2 + aix+ biy − r̂iv = ei(v − r̂i)− e 2 i 2 = ei(v − r̂i)−O(e2i ).”
An Asymptotically Efficient Estimator in Closed-Form for 3-D AOA Localization Using a Sensor Network (2015, background): “This is caused by the threshold effect resulted from the non-linear nature of the estimation problem [41].”
Source Localization Using TDOA and FDOA Measurements in the Presence of Receiver Location Errors: Analysis and Solution (2007, background): “If is the signal propagation speed, then the TDOA measurements between receiver pair and 1 is (2) where is the TDOA noise that is assumed to be zero-mean Gaussian.”
Bias Reduction for an Explicit Solution of Source Localization Using TDOA (2012, methodology): “The changes are in Stage 1, and the processing in Stage 2 and Stage 3 is the same as in [24].”