Source localization and time delay estimation using constrained least squares and best path smoothing

The problem of source localization from arrival time delay estimates requires a computationally costly iterative solution of a set of nonlinear equations. Most known methods assume that the propagation speed is known. In this paper, we provide several effective source localization and propagation velocity estimation methods which only use measurements of the relative arrival time delays between sensors. The formulae for source localization and propagation speed estimation are derived based on least squares, total least squares, bounded data uncertainty, and constrained least squares methods. Statistical performance of these methods are compared via computer simulation. In addition, in order to avoid time delay ambiguity problems and obtain smoother time delays, two time delay smoothing methods based on the forward backward algorithm and the Viterbi algorithm are also proposed. Field experiment results based on these techniques are also presented.