Ultrasound TDoA positioning using the Best Linear Unbiased Estimator

In this paper, a planar positioning technique is proposed, applying the best linear unbiased estimator (BLUE) algorithm to ultrasound time difference of arrival measurements (TDoA). The performance of the proposed approach is validated using numerical simulations and compared to a Least Squares Estimator (LSE). It is shown that the accuracy of the proposed BLUE approach is similar to that of the LSE, while providing a simpler implementation and a much lower processing time.