Seeking relatively basic survey on TDOA analysis

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I am seeking a document which can be downloaded, and which contains a
relatively basic introduction to Time-Delay-Of-Arrival analysis, of
the kind that might be used for locationing in, say, a GPS, or similar
system. I'm a tech writer; the company I work for is doing some work
in this area, and I'd like to get a bit more background.

I've done a Google on the subject, and there is no shortage of
documents out there; the problem is finding one at the right level
for my needs. I find some articles which are clearly for popular
audiences, and others which assume at least a Masters in EE or digital
signal processing. I'm somewhere in between.

I need something which:
1. Is at roughly sophomore/junior level of engineering math.
2. Has illustrations to accompany the math (I need a bit of
hand-holding with my math)
3. Preferably covers at least two or three different algorithms.

Any leads/links would be greatly appreciated.

Steve O.

Standard Antiflame Disclaimer: Please don't flame me. I may actually *be* an idiot, but even idiots have feelings.

 

One of your search keywords should be "geomatics"- see:
http://www.gps.gov.uk/additionalInfo/gpsLinks.asp

 

GPS Kindergarten & Up by Jerry Huang, ACME Services
http://www.allgps.com/