Path Design for Best Emitter Location Using Two Mobile Sensors

Elad Tzoreff*, Anthony J. Weiss

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

32 Scopus citations


We consider the design of a pair of moving sensors trajectories for the purpose of optimally localizing a stationary emitter based on time-difference-of-arrival measurements. The localization error covariance matrix is predicted by the Cramér-Rao bound. As an optimization criterion for the localization error, we propose the maximization of the smallest eigenvalue of the Fisher information matrix that is associated with the major principle axis of the confidence ellipsoid. We establish the path design problem under a set of constraints rising from speed, maneuvering, safety, and no-fly zones limitations. We propose a solution based on a nonconvex alternating direction method of multipliers. We examine the results of the algorithm for the case of a pair of sensor against the basin hopping global optimizer with impressive results.

Original languageEnglish
Article number7982807
Pages (from-to)5249-5261
Number of pages13
JournalIEEE Transactions on Signal Processing
Issue number19
StatePublished - 1 Oct 2017


FundersFunder number
Amnon Pazi Foundation
Israel Science Foundation503/15, 965/15


    • Time difference of arrival (TDOA)
    • alternating direction method of multipliers (ADMM)
    • augmented Lagrangian method (ALM)
    • majorization-minimization (MM) algorithm
    • semi-definite programming (SDP)
    • semi-definite relaxation (SDR)


    Dive into the research topics of 'Path Design for Best Emitter Location Using Two Mobile Sensors'. Together they form a unique fingerprint.

    Cite this