Asynchronous time difference of arrival (ATDOA) method

A new method for a location service in the asynchronous wireless sensor networks is outlined. This method, which is called asynchronous time difference of arrival (ATDOA), enables calculation of the position of a mobile node without knowledge of relative time differences (RTDs) between measuring sensors. The ATDOA method is based on the measurement of time difference of arrival between the node and the same sensor at the discrete time nn and n+1n+1, and the solution of a nonlinear system of equations. The paper concentrates on the description of the method, solving the nonlinear system of equations and simulation results.