Fig.1

Diagram of grouping of TDOA localization sensors

Fig.2

Diagram of overall technical route of the new method

Fig.3

Computational flow chart of the new method

Table 1

Computational complexity of the new method

Table 2

3D position coordinate of sensors

Fig.4

Root-mean-square-error of three kinds of parameters as a function of σd

Fig.5

Root-mean-square-error of three kinds of parameters as a function of σs

Fig.6

Root-mean-square-error of three kinds of parameters as a function of σd(c)

Table 3

Average running time of five localization methods

Fig.7

Root-mean-square-error of source location as a function of σd

Fig.8

Root-mean-square-error of source location as a function of σs

Fig.9

Root-mean-square-error of source location as a function of σd(c)