Exact Robust Solution to TW-ToA-Based Target Localization Problem with Clock Imperfections

Slavisa Tomic, Marko Beko

Research output: Contribution to journalArticlepeer-review

18 Citations (Scopus)


This letter addresses the problem of target localization based on two-way time of arrival (TW-ToA) measurements with clock imperfections. In addition to the target location, the turn-around times and clock skews are considered unknown. Since an optimal estimator for this problem cannot be tackled directly, we approximate it by a suboptimal, robust one, formulated as a generalized trust region subproblem. Even though nonconvex in general, exact solution of the derived estimator can be obtained by just a bisection procedure. Simulation results validate the effectiveness of the proposed technique, matching the performance of the state of the art with significantly lower computational complexity.

Original languageEnglish
Pages (from-to)531-535
Number of pages5
JournalIEEE Signal Processing Letters
Issue number4
Publication statusPublished - 1 Apr 2018


  • Clock imperfections
  • generalized trust region subproblem (GTRS)
  • robust localization
  • two-way time of arrival (TW-ToA)


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