Chapter 3 Positioning

kaltoa provides a few different models for tag positioning.

• Closed form time-difference-of-arrival (TDOA)
• Kalman filtered time-of-arrival localization (EK-TOA)
• Population Monte Carlo time-of-arrival localization (PMC-TOA)

Common to all models is the requirement for the detections data to be arranged in a time-of-arrival (TOA) matrix. This is pretty straight forward in kaltoa and covered in the next section.