The measurements of time-difference-of-arrival (TDOA) and wave velocity have significant influence on localization accuracy. To reduce the loss in localization accuracy induced by TDOA noises and velocity errors, the constrained total least squares (CTLS) method using the TDOA measurements for jointly estimating AE source and wave velocity is proposed in this paper. The proposed method exploits the CTLS principle of unknown wave velocity, and the Newton's iterative method is combined to give the optimal solution. The simulation tests are implemented to quantitatively analyze the performance of the proposed method, and the results show that the location accuracy and velocity accuracy of the proposed method are optimal and can attain the Cramér–Rao lower bound (CRLB). In addition, the experiment results of pencil-lead breaks further indicate that the proposed method can achieve higher positioning accuracy than traditional methods with a relatively low computational cost.

到达时间差 (TDOA) 和波速的测量对定位精度有显着影响。为了减少由TDOA噪声和速度误差引起的定位精度损失，本文提出了使用TDOA测量联合估计AE源和波速的约束全最小二乘法（CTLS）方法。该方法利用未知波速的CTLS原理，结合牛顿迭代法给出最优解。通过仿真测试对所提出方法的性能进行了定量分析，结果表明所提出方法的定位精度和速度精度均达到最优，并且能够达到克拉默-拉奥下界（CRLB）。此外，