TDOA positioning in the presence of atmospheric refraction and observer uncertainty influence analysis and correction

Due to the inhomogeneity of the atmosphere, radio waves are subjected to refraction during the propagation process, which reduces its propagation speed and bends the propagation path. If the influence is not considered, a large error will be caused by using time difference of arrival (TDOA). The influence of atmospheric refraction on the TDOA localization under the known elevation constraint is analyzed, a subsection iterative method is proposed to correct the localization error caused by atmospheric refraction, the Cramer-Rao lower bound (CRLB) for location estimation under atmospheric refraction is deduced. The effectiveness of the proposed method is validated through simulation results and analysis.