... can alsobe expressed in vector form a srTOA= fTOA(x)+nTOA,(4)whererTOA=rTOA,1rTOA,2···rTOA,MT,nTOA=nTOA,1nTOA,2···nTOA,MT,fTOA(x) =⎡⎢⎢⎢⎢⎢⎢⎢⎢⎣x ... disturbance, denoted by rTOA,i,ismodeled asrTOA,i= di+ nTOA,i=x − xi2+y − yi2+ nTOA,i, i = 1, 2, , M,(3)where nTOA,iis the range error in rTOA,i.Equation(3) can ... is to recast theCWLS estimators to unconstrained minimization problems,and then to use the analysis technique for unconstrainedproblems [28] to find out the mean and covariance of theestimators....