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Source localization by collaborating multiple measurements with inaccurate sensor positions

Sensor position uncertainty can degrade the accuracy of source localization significantly in the wireless sensor networks In order to improve it, this paper develops an algorithm by collaborating TDOA and GROA measurements for the source localization in the presence of sensor location errors, derives the CRLB of a source location estimate in this condition, and also proposes an algebraic closed-form solution for it. The proposed algorithm is shown analytically to reach the CRLB accuracy for a far field source. The simulation results support the theoretical development and show better performance comparing with other algorithms.