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To obtain time synchronization, all anchors broadcast signals periodically; relative clock offsets and skews of anchor pairs are estimated by the least-square (LS) method using the times-of-arrival (TOAs) of broadcast signals at anchors. When a tag transmits signal, the TOA of tag signal at each anchor is stamped and errors in original TDOAs of tag signal due to relative clock offsets and skews of anchor pairs are eliminated. Based on Gaussian noise model, maximum likelihood estimation (MLE) for the tag position is obtained. Performance issues are addressed by evaluating the Cram\u00e9r-Rao lower bound of synchronization and localization algorithms. Since the tag can be located via a single transmission, least power consumption of tag is required, and large number of tags can be served in WSN. The proposed algorithm is simple and effective, with performance close to that of synchronous TDOA algorithm. <\/jats:p>","DOI":"10.1155\/2015\/598747","type":"journal-article","created":{"date-parts":[[2015,5,13]],"date-time":"2015-05-13T21:08:46Z","timestamp":1431551326000},"page":"598747","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":31,"title":["Robust TDOA Localization Algorithm for Asynchronous Wireless Sensor Networks"],"prefix":"10.1177","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0896-6662","authenticated-orcid":false,"given":"Hui","family":"Xiong","sequence":"first","affiliation":[{"name":"School of Electronic Science and Engineering, National University of Defense Technology, Changsha 410073, China"}]},{"given":"Zhiyuan","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Electronic Science and Engineering, National University of Defense Technology, Changsha 410073, China"}]},{"given":"Wei","family":"An","sequence":"additional","affiliation":[{"name":"School of Electronic Science and Engineering, National University of Defense Technology, Changsha 410073, China"}]},{"given":"Beiya","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Electronic Science and Engineering, National University of Defense Technology, Changsha 410073, China"}]}],"member":"179","published-online":{"date-parts":[[2015,5,13]]},"reference":[{"key":"B1-2015-598747","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2002.1024422"},{"key":"B2-2015-598747","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCC.2007.905750"},{"key":"B14-2015-598747","doi-asserted-by":"publisher","DOI":"10.1016\/j.adhoc.2005.01.002"},{"key":"B7-2015-598747","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2009.2032990"},{"key":"B18-2015-598747","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2011.2159215"},{"key":"B17-2015-598747","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2006.880213"},{"key":"B5-2015-598747","doi-asserted-by":"publisher","DOI":"10.1109\/ICASSP.2013.6638427"},{"key":"B8-2015-598747","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2004.823465"},{"key":"B12-2015-598747","first-page":"1734","volume-title":"Proceedings of the 22nd Annual Joint Conference on the IEEE Computer and Communications Societies","author":"Niculescu D."},{"key":"B9-2015-598747","doi-asserted-by":"publisher","DOI":"10.1109\/INFCOM.2000.832252"},{"key":"B10-2015-598747","doi-asserted-by":"publisher","DOI":"10.1109\/MSP.2005.1458289"},{"key":"B23-2015-598747","volume-title":"IEEE Standard 802.15.4a","author":"IEEE Computer Society","year":"2007"},{"key":"B6-2015-598747","doi-asserted-by":"publisher","DOI":"10.1145\/844128.844143"},{"key":"B11-2015-598747","first-page":"138","volume-title":"Proceedings of the ACM 1st International Conference on Embedded Networked Sensor Systems (SenSys '03)","author":"Ganeriwal S."},{"key":"B13-2015-598747","doi-asserted-by":"publisher","DOI":"10.1145\/1031495.1031501"},{"key":"B19-2015-598747","doi-asserted-by":"publisher","DOI":"10.1109\/LSP.2012.2222371"},{"key":"B21-2015-598747","doi-asserted-by":"publisher","DOI":"10.1109\/78.301830"},{"key":"B25-2015-598747","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-2341-0"},{"key":"B26-2015-598747","volume-title":"Fundamentals of Statistical Signal Processing Volume I: Estimation Theory","author":"Kay S. 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