Node Localization in Unsynchronized Time of Arrival Sensor Networks

Simon Burgess, Yubin Kuang, Karl Åström

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingpeer-review

12 Citations (SciVal)


We present a method for solving the previously unstudied
problem of localizing a set of receivers and directions
from transmitters placed far from the receivers,
measuring unsynchronized time of arrival data. The
same problem is present in node localization of microphone
and antenna arrays. The solution algorithm using
5 receivers and 9 transmitters is extended to the
overdetermined case in a straightforward manner. Degenerate
cases are shown to be when i) the measurement
matrix has rank 4 or less or ii) the directions from
the transmitters to the receivers lie on an intersection
between the unit sphere and another quadric surface.
In simulated experiments we explore how sensitive the
solution is with respect to different degrees of far field
approximations of the transmitters and with respect to
noise in the data. Using real data we get a reconstruction
of the receivers with a relative error of 14%.
Original languageEnglish
Title of host publication21st International Conference on Pattern Recognition (ICPR 2012), Proceedings of
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Number of pages5
ISBN (Print)978-4-9906441-1-6
Publication statusPublished - 2012
Event21st International Conference on Pattern Recognition (ICPR 2012) - Tsukuba, Japan
Duration: 2012 Nov 112012 Nov 15


Conference21st International Conference on Pattern Recognition (ICPR 2012)

Bibliographical note

The proceedings of ICPR 2012 will in the future be available at IEEE Xplore. The page reference given above refer to the proceedings published on USB by IEEE, and distributed to the participants during the conference.

Subject classification (UKÄ)

  • Mathematics


  • Unsynchronized Time-of-Arrival
  • sensor networks


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