{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T12:51:37Z","timestamp":1777726297142,"version":"3.51.4"},"reference-count":48,"publisher":"Springer Science and Business Media LLC","issue":"5","license":[{"start":{"date-parts":[[2025,1,9]],"date-time":"2025-01-09T00:00:00Z","timestamp":1736380800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,1,9]],"date-time":"2025-01-09T00:00:00Z","timestamp":1736380800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/100014718","name":"Innovative Research Group Project of the National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61702228"],"award-info":[{"award-number":["61702228"]}],"id":[{"id":"10.13039\/100014718","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Circuits Syst Signal Process"],"published-print":{"date-parts":[[2025,5]]},"DOI":"10.1007\/s00034-024-02957-y","type":"journal-article","created":{"date-parts":[[2025,1,9]],"date-time":"2025-01-09T13:34:07Z","timestamp":1736429647000},"page":"3223-3257","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Time Difference Localization Algorithm Based on Improved Eel and Grouper Optimizer"],"prefix":"10.1007","volume":"44","author":[{"given":"Xinrong","family":"Zhang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bojun","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Liping","family":"Fang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,1,9]]},"reference":[{"issue":"5","key":"2957_CR1","doi-asserted-by":"crossref","first-page":"1770","DOI":"10.1109\/TSP.2007.909342","volume":"56","author":"A Beck","year":"2008","unstructured":"A. Beck, P. Stoica, Exact and approximate solutions of source localization problems. IEEE Trans. Signal Process. 56(5), 1770\u20131778 (2008)","journal-title":"IEEE Trans. Signal Process."},{"key":"2957_CR2","doi-asserted-by":"crossref","unstructured":"Y.-Z. Bin, L.-A. Nan, Q. Yan, PSO-based passive satellite localization using TDOA and FDOA measurements, in Proceedings of the 2011 10th IEEE\/ACIS International Conference on Computer and Information Science (2011), pp. 251\u2013254","DOI":"10.1109\/ICIS.2011.47"},{"issue":"3","key":"2957_CR3","first-page":"462","volume":"29","author":"GC Cater","year":"1981","unstructured":"G.C. Cater, Time delay estimation for passive sonar signal processing. IEEE Trans. Acoust. Speech Signal Process. 29(3), 462\u2013470 (1981)","journal-title":"IEEE Trans. Acoust. Speech Signal Process."},{"issue":"8","key":"2957_CR4","doi-asserted-by":"crossref","first-page":"1905","DOI":"10.1109\/78.301830","volume":"42","author":"Y-T Chan","year":"1994","unstructured":"Y.-T. Chan, K.-C. Ho, A simple and efficient estimator for hyperbolic localization. IEEE Trans. Signal Process. 42(8), 1905\u20131915 (1994)","journal-title":"IEEE Trans. Signal Process."},{"issue":"1","key":"2957_CR5","doi-asserted-by":"crossref","first-page":"10","DOI":"10.1109\/TVT.2005.861162","volume":"55","author":"Y-T Chan","year":"2006","unstructured":"Y.-T. Chan, H.-Y.-C. Hang, P. Ching, Exact and approximate maximum likelihood localization algorithms. IEEE Trans. Veh. Technol. 55(1), 10\u201316 (2006)","journal-title":"IEEE Trans. Veh. Technol."},{"issue":"8","key":"2957_CR6","doi-asserted-by":"crossref","first-page":"1240","DOI":"10.1109\/LWC.2020.2986756","volume":"9","author":"H Chen","year":"2020","unstructured":"H. Chen, T. Ballal, N. Saeed, A joint TDOA-PDOA localization approach using particle swarm optimization. IEEE Wirel. Commun. Lett 9(8), 1240\u20131244 (2020)","journal-title":"IEEE Wirel. Commun. Lett"},{"issue":"4","key":"2957_CR7","doi-asserted-by":"crossref","first-page":"1003","DOI":"10.3390\/rs14041003","volume":"14","author":"L Fan","year":"2022","unstructured":"L. Fan, C. Zhou, 3D lightning location method based on range difference space projection. Remote Sens 14(4), 1003 (2022)","journal-title":"Remote Sens"},{"key":"2957_CR8","doi-asserted-by":"crossref","first-page":"187","DOI":"10.1109\/TAES.1976.308294","volume":"12","author":"WH Foy","year":"1976","unstructured":"W.H. Foy, Position-localization solutions by taylor-series estimation. IEEE Trans. Aerosp. Electron. Syst. 12, 187\u2013194 (1976)","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"2957_CR9","first-page":"2821","volume":"19","author":"P Gao","year":"2020","unstructured":"P. Gao, H. Wu, Z. Ding, Robust TOA and TDOA localization using cooperative multilateration. IEEE Trans. Wirel. Commun. 19, 2821\u20132834 (2020)","journal-title":"IEEE Trans. Wirel. Commun."},{"issue":"5","key":"2957_CR10","doi-asserted-by":"crossref","first-page":"7067","DOI":"10.1109\/JSEN.2020.3040280","volume":"21","author":"Y Guo","year":"2021","unstructured":"Y. Guo, X. Jiang, N. Li, S. Yang, D. Yu, Localization of multiple RF sources based on Bayesian compressive sensing using a limited number of UAVs with airborne RSS sensor. IEEE Sens 21(5), 7067\u20137079 (2021)","journal-title":"IEEE Sens"},{"key":"2957_CR11","first-page":"8541","volume":"22","author":"Z He","year":"2022","unstructured":"Z. He, X. Liu, G. Xu, Robust joint TDOA-AOA localization for large-scale networks. IEEE Sens. J. 22, 8541\u20138549 (2022)","journal-title":"IEEE Sens. J."},{"issue":"4","key":"2957_CR12","doi-asserted-by":"crossref","first-page":"3493","DOI":"10.1109\/JSEN.2022.3141386","volume":"22","author":"S Huang","year":"2022","unstructured":"S. Huang, B. Wang, Y. Zhao, M. Luan, Near-field RSS-based localization algorithms using reconfigurable intelligent surface. IEEE Sens. J. 22(4), 3493\u20133505 (2022)","journal-title":"IEEE Sens. J."},{"key":"2957_CR13","first-page":"3908","volume":"71","author":"Y Huang","year":"2022","unstructured":"Y. Huang, X. Lin, Distributed target localization with TDOA and FDOA using wireless sensor networks. IEEE Trans. Veh. Technol. 71, 3908\u20133918 (2022)","journal-title":"IEEE Trans. Veh. Technol."},{"key":"2957_CR14","first-page":"2477","volume":"56","author":"Y Huang","year":"2008","unstructured":"Y. Huang, C. Liu, Passive localization in multipath environments: algorithms and performance. IEEE Trans. Signal Process. 56, 2477\u20132488 (2008)","journal-title":"IEEE Trans. Signal Process."},{"issue":"6","key":"2957_CR15","doi-asserted-by":"crossref","first-page":"802","DOI":"10.1049\/cmu2.12122","volume":"15","author":"F Jiang","year":"2021","unstructured":"F. Jiang, Z. Zhang, An improved underwater TDOA\/AOA joint localization algorithm. IET Commun. 15(6), 802\u2013814 (2021)","journal-title":"IET Commun."},{"key":"2957_CR16","first-page":"1987","volume":"61","author":"D Kaplan","year":"2012","unstructured":"D. Kaplan, Q. Li, A simple and efficient method for solving TDOA equations for accurate source localization. IEEE Trans. Veh. Technol. 61, 1987\u20131998 (2012)","journal-title":"IEEE Trans. Veh. Technol."},{"key":"2957_CR17","first-page":"8225","volume":"68","author":"H Li","year":"2019","unstructured":"H. Li, T. Jin, Robust target localization with joint TOA and TDOA measurements in the presence of uncertainties. IEEE Trans. Veh. Technol. 68, 8225\u20138234 (2019)","journal-title":"IEEE Trans. Veh. Technol."},{"key":"2957_CR18","first-page":"5141","volume":"7","author":"Y Li","year":"2020","unstructured":"Y. Li, N. Guo, Q. Zhang, Joint AOA and TDOA localization for UAV-based IoT networks. IEEE Internet Things J. 7, 5141\u20135154 (2020)","journal-title":"IEEE Internet Things J."},{"key":"2957_CR19","first-page":"456","volume":"71","author":"X Liang","year":"2023","unstructured":"X. Liang, R. Zhou, Accurate joint AOA-TDOA localization with environmental adaptation. IEEE Trans. Signal Process. 71, 456\u2013469 (2023)","journal-title":"IEEE Trans. Signal Process."},{"key":"2957_CR20","first-page":"4023","volume":"72","author":"X Liu","year":"2023","unstructured":"X. Liu, W. Li, G. Yan, Iterative AOA-TDOA localization algorithm with data association for multiple sources. IEEE Trans. Veh. Technol. 72, 4023\u20134032 (2023)","journal-title":"IEEE Trans. Veh. Technol."},{"key":"2957_CR21","doi-asserted-by":"crossref","first-page":"309","DOI":"10.1109\/LSP.2021.3051836","volume":"28","author":"X Ma","year":"2021","unstructured":"X. Ma, T. Ballal, H. Chen, A maximum-likelihood TDOA localization algorithm using difference-of-convex programming. IEEE Signal Process. Lett. 28, 309\u2013313 (2021)","journal-title":"IEEE Signal Process. Lett."},{"key":"2957_CR22","doi-asserted-by":"crossref","unstructured":"A. Mikhalev, R.F. Ormondroyd, Comparison of hough transform and particle filter methods of emitter geolocalization using fusion of TDOA Data, in Proceedings of the 2007 4th Workshop Positioning, Navigation and Communication, vol. 22 (2007), pp. 121\u2013127","DOI":"10.1109\/WPNC.2007.353622"},{"key":"2957_CR23","doi-asserted-by":"crossref","unstructured":"M. Murata, D. Ahmetovic, D. Sato, H. Takagi, K.M. Kitani, C. Asakawa, Smartphone-based indoor localization for blind navigation across building complexes, in 2018 IEEE International Conference on Pervasive Computing and Communications (PerCom) (IEEE, 2018), pp. 1\u201310.","DOI":"10.1109\/PERCOM.2018.8444593"},{"key":"2957_CR24","first-page":"9967","volume":"70","author":"X Shen","year":"2021","unstructured":"X. Shen, Y. Guo, X. Liang, Y. Liu, Outlier-robust joint AOA-TDOA localization in harsh environments. IEEE Trans. Veh. Technol. 70, 9967\u20139978 (2021)","journal-title":"IEEE Trans. Veh. Technol."},{"issue":"12","key":"2957_CR25","doi-asserted-by":"crossref","first-page":"1661","DOI":"10.1109\/TASSP.1987.1165089","volume":"35","author":"J Smith","year":"1987","unstructured":"J. Smith, J. Abel, Closed-form least-squares source location estimation from range-difference measurements. IEEE Trans. Acoust. Speech Signal Process. 35(12), 1661\u20131669 (1987)","journal-title":"IEEE Trans. Acoust. Speech Signal Process."},{"issue":"5","key":"2957_CR26","doi-asserted-by":"crossref","first-page":"2943","DOI":"10.1121\/1.3365313","volume":"127","author":"SJ Spencer","year":"2010","unstructured":"S.J. Spencer, Closed-form analytical solutions of the time difference of arrival source location problem for minimal element monitoring arrays. J. Acoust. Soc. Am. 127(5), 2943\u20132949 (2010)","journal-title":"J. Acoust. Soc. Am."},{"key":"2957_CR27","doi-asserted-by":"crossref","first-page":"292","DOI":"10.1109\/LSP.2006.870377","volume":"13","author":"P Stoica","year":"2006","unstructured":"P. Stoica, J. Li, On Fourier-based estimators for multiple source location estimation. IEEE Signal Process. Lett. 13, 292\u2013295 (2006)","journal-title":"IEEE Signal Process. Lett."},{"key":"2957_CR28","doi-asserted-by":"crossref","first-page":"2256","DOI":"10.1109\/TSP.2020.2981773","volume":"68","author":"Y Sun","year":"2020","unstructured":"Y. Sun, K.-C. Ho, Q. Wan, Eigenspace solution for AOA localization in modified polar representation. IEEE Trans. Signal Process. 68, 2256\u20132271 (2020)","journal-title":"IEEE Trans. Signal Process."},{"issue":"2","key":"2957_CR29","doi-asserted-by":"crossref","first-page":"320","DOI":"10.1109\/TSP.2018.2879622","volume":"67","author":"Y Sun","year":"2018","unstructured":"Y. Sun, K.-C. Ho, Q. Wan, Solution and analysis of TDOA localization of a near or distant source in closed form. IEEE Trans. Signal Process. 67(2), 320\u2013335 (2018)","journal-title":"IEEE Trans. Signal Process."},{"issue":"3","key":"2957_CR30","doi-asserted-by":"crossref","first-page":"1616","DOI":"10.1109\/TAES.2013.110499","volume":"50","author":"N Vankayalapati","year":"2014","unstructured":"N. Vankayalapati, S. Kay, Q. Ding, TDOA-based direct positioning maximum likelihood estimator and the Cramer-Rao bound. IEEE Trans. Aerosp. Electron. Syst. 50(3), 1616\u20131635 (2014)","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"issue":"5","key":"2957_CR31","doi-asserted-by":"crossref","first-page":"1101","DOI":"10.3390\/rs14051101","volume":"14","author":"MG Vidal-Valladares","year":"2022","unstructured":"M.G. Vidal-Valladares, M.A. D\u00edaz, A Femto-satellite localization method based on TDOA and AOA using two CubeSats. Remote Sens. 14(5), 1101 (2022)","journal-title":"Remote Sens."},{"issue":"2","key":"2957_CR32","doi-asserted-by":"crossref","first-page":"853","DOI":"10.1109\/TVT.2012.2225074","volume":"62","author":"G Wang","year":"2013","unstructured":"G. Wang, Y. Li, N.A. Ansari, Semidefinite relaxation method for source localization using TDOA and FDOA measurements. IEEE Trans. Veh. Technol. 62(2), 853\u2013862 (2013)","journal-title":"IEEE Trans. Veh. Technol."},{"key":"2957_CR33","first-page":"9858","volume":"68","author":"K Wang","year":"2019","unstructured":"K. Wang, W. Meng, J. Zhang, H. Wang, NLOS mitigation for TDOA localization of moving targets using joint estimation and filtering. IEEE Trans. Veh. Technol. 68, 9858\u20139867 (2019)","journal-title":"IEEE Trans. Veh. Technol."},{"issue":"15","key":"2957_CR34","doi-asserted-by":"crossref","first-page":"3545","DOI":"10.3390\/rs14153545","volume":"14","author":"Y Wang","year":"2022","unstructured":"Y. Wang, G.-C. Sun, Y. Wang, J. Yang, Z. Zhang, M. Xing, A multi-pulse cross ambiguity function for the wideband TDOA and FDOA to locate an emitter passively. Remote Sens. 14(15), 3545 (2022)","journal-title":"Remote Sens."},{"issue":"4","key":"2957_CR35","doi-asserted-by":"crossref","first-page":"910","DOI":"10.3390\/rs14040910","volume":"14","author":"Y Wang","year":"2022","unstructured":"Y. Wang, T. Zhou, W. Yi, L. Kong, A GDOP-based performance description of TOA localization with uncertain measurements. Remote Sens. 14(4), 910 (2022)","journal-title":"Remote Sens."},{"issue":"3","key":"2957_CR36","first-page":"1677","volume":"58","author":"H-W Wei","year":"2009","unstructured":"H.-W. Wei, R. Peng, Q. Wan, Z.-X. Chen, S.-F. Ye, S.F. Ye, Multidimensional scaling analysis for passive moving target localization with TDOA and FDOA measurements. IEEE Trans. Signal Process. 58(3), 1677\u20131688 (2009)","journal-title":"IEEE Trans. Signal Process."},{"issue":"1","key":"2957_CR37","doi-asserted-by":"crossref","first-page":"69","DOI":"10.1109\/TASSP.1982.1163855","volume":"30","author":"E Weinstein","year":"1982","unstructured":"E. Weinstein, Optimal source localization and tracking from passive array measurements. IEEE Trans. Acoust. Speech Signal Process. 30(1), 69\u201376 (1982)","journal-title":"IEEE Trans. Acoust. Speech Signal Process."},{"key":"2957_CR38","first-page":"1","volume":"20","author":"W-X Xiong","year":"2023","unstructured":"W.-X. Xiong, H.-C. So, Outlier-robust passive elliptic target localization. IEEE Geosci. Remote Sens. Lett. 20, 1\u20135 (2023)","journal-title":"IEEE Geosci. Remote Sens. Lett."},{"issue":"17","key":"2957_CR39","volume":"34","author":"Y Xiong","year":"2022","unstructured":"Y. Xiong, J. Pan, F. Yang, S. Wu, C. Zeng, Iterative TOA and TDOA localization algorithm using joint linear estimation. Int. J. Commun. Syst. 34(17), e4981 (2022)","journal-title":"Int. J. Commun. Syst."},{"key":"2957_CR40","doi-asserted-by":"crossref","first-page":"1515","DOI":"10.1109\/LCOMM.2014.2337318","volume":"18","author":"Z Xu","year":"2014","unstructured":"Z. Xu, Z. Yuan, Weighted least squares TDOA localization for multipath channel. IEEE Commun. Lett. 18, 1515\u20131518 (2014)","journal-title":"IEEE Commun. Lett."},{"issue":"9","key":"2957_CR41","doi-asserted-by":"crossref","first-page":"2028","DOI":"10.1109\/TMC.2019.2921962","volume":"19","author":"G Yang","year":"2019","unstructured":"G. Yang, X. Shi, L. Feng, S. He, Z. Shi, J. Chen, CEDAR: a cost-effective crowdsensing system for detecting and localizing drones. IEEE Trans. Mobile Comput. 19(9), 2028\u20132043 (2019)","journal-title":"IEEE Trans. Mobile Comput."},{"key":"2957_CR42","first-page":"1191","volume":"25","author":"M Yang","year":"2021","unstructured":"M. Yang, J. Wang, An efficient TDOA localization algorithm for UAV networks with multipath mitigation. IEEE Commun. Lett. 25, 1191\u20131194 (2021)","journal-title":"IEEE Commun. Lett."},{"key":"2957_CR43","first-page":"1517","volume":"10","author":"R Yao","year":"2021","unstructured":"R. Yao, Q. Song, Hybrid RSS-AOA localization based on constrained weighted least squares. IEEE Wirel. Commun. Lett 10, 1517\u20131521 (2021)","journal-title":"IEEE Wirel. Commun. Lett"},{"issue":"4","key":"2957_CR44","doi-asserted-by":"crossref","first-page":"593","DOI":"10.1016\/S1000-9361(11)60423-8","volume":"25","author":"H Yu","year":"2012","unstructured":"H. Yu, G. Huang, J. Gu, Approximate maximum likelihood algorithm for moving source localization using TDOA and FDOA measurements. Chin. J. Aeronaut. 25(4), 593\u2013597 (2012)","journal-title":"Chin. J. Aeronaut."},{"key":"2957_CR45","first-page":"58462","volume":"8","author":"X Zhao","year":"2020","unstructured":"X. Zhao, F. Yu, J. Wu, 3-D source localization with combined AOA and TDOA measurements using low-cost sensors. IEEE Access 8, 58462\u201358471 (2020)","journal-title":"IEEE Access"},{"key":"2957_CR46","first-page":"129351","volume":"8","author":"Y Zhou","year":"2020","unstructured":"Y. Zhou, J. Xu, B. Shen, A novel source localization algorithm using hybrid AOA and TDOA in 3-D space. IEEE Access 8, 129351\u2013129360 (2020)","journal-title":"IEEE Access"},{"issue":"1","key":"2957_CR47","first-page":"85","volume":"37","author":"G-H Zhu","year":"2015","unstructured":"G.-H. Zhu, D.-Z. Feng, Y. Zhou, H.-X. Zhao, A linear-correction based on time difference of arrival localization algorithm. J. Electron. Inf. Technol. 37(1), 85\u201390 (2015)","journal-title":"J. Electron. Inf. Technol."},{"key":"2957_CR48","doi-asserted-by":"crossref","unstructured":"Y. Zou, W. Wu, J. Fan, Constrained weighted least-squares algorithms for 3-D AOA-based hybrid localization. IEEE Open J. Signal Process. (2024)","DOI":"10.1109\/OJSP.2024.3360901"}],"container-title":["Circuits, Systems, and Signal Processing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00034-024-02957-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s00034-024-02957-y\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00034-024-02957-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,4,23]],"date-time":"2025-04-23T14:02:50Z","timestamp":1745416970000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s00034-024-02957-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,1,9]]},"references-count":48,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2025,5]]}},"alternative-id":["2957"],"URL":"https:\/\/doi.org\/10.1007\/s00034-024-02957-y","relation":{},"ISSN":["0278-081X","1531-5878"],"issn-type":[{"value":"0278-081X","type":"print"},{"value":"1531-5878","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,1,9]]},"assertion":[{"value":"9 August 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"4 December 2024","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"7 December 2024","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 January 2025","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no Conflict of interest to declare.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}