Joint source localization and propagation speed estimation using TDOA with hypothesized propagation speed

Shaohong Xu, Minghai Yang, Chengyu Li, Beichuan Tang, Yanbing Yang, Liangyin Chen, Yimao Sun

Abstract: Highlights•A novel underwater TDOA localization model is introduced with hypothesized propagation speed and residual estimation.•Nullspace projection is employed for independent coarse estimation of source position and propagation speed.•Accuracy is enhanced with perturbation analysis and Taylor expansion, achieving CRLB in mild-noise and small-sensor position errors conditions.•Superior performance and reduced computational load are demonstrated compared to existing methods.