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The TDOA-based source localization problem in sensor networks is considered with sensor node location uncertainty. A Total Least Squares (TLSs) algorithm is developed by a linear closed-form solution for this problem, and the uncertainty of the sensor location is formulated as a perturbation. The sensitivity of the TLS solution is also analyzed. Simulation results show its improved performance against the classic least squares approaches. Driven by many practical applications such as environment monitoring, traffic management in intelligent transportation, healthcare for the older and disabled, Cyber-Physical System (CPS) has emerged as a new advanced system to link the virtual cyber world with the real physical world.
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