Introduction - If you have any usage issues, please Google them yourself
According to the paper "Source Localization Using TDOA and FDOA Measurements in the Presence of Receiver Location Errors_ Analysis and Solution" written by KC Ho, I write the code for simulation, the method is the least square, in fact, the second step is completely out of use, I do not know whether it is my problem or not, if you have any idea, welcome to discuss