Kai Yang Jianping An Xiangyuan Bu Zhan Xu Constrained Total Least-Squares Algorithm for Hyperbolic Location. 3824-3827 2008 91-A IEICE Transactions 12 http://dx.doi.org/10.1093/ietfec/e91-a.12.3824 db/journals/ieicet/ieicet91a.html#YangABX08