Resumen
A fast Hough transform (HT)-based hyperbolic emitter localization system is proposed to process time difference of arrival (TDOA) measurements. The position-fixing problem is provided for cases where the source is known to be on a given plane (i.e., the elevation of the source is known), while the sensors can be deployed anywhere in the three-dimensional space. The proposed solution provides fast evaluation and guarantees the determination of the global optimum. Another favorable property of the proposed solution is that it is robust against faulty sensor measurements (outliers). A fast evaluation method involving the hyperbolic Hough transform is proposed, and the global convergence property of the algorithm is proven. The performance of the algorithm is compared to that of the least-squares solution, other HT-based solutions, and the theoretical limit (the Cramér?Rao lower bound), using simulations and real measurement examples.