In the presence of sensor position and velocity errors

this paper considers the problem of simultaneously locating multiple disjoint sources and refining erroneous of sensor positions and velocities using time differences of arrival (TDOA) and frequency differences of arrival (FDOA).The previous work by Sun and Ho to solve this problem provided an efficient estimator for multiple disjoint sources

but it cannot provide optimum accuracy for the sensor positions and sensor velocities.In many practical applications

it's necessary and helpful to refine sensor locations and velocities while localizing multiple sources.The proposed method improves the previous method so that both the source and the sensor position and velocity estimates can achieve the Cramr-Rao lower bound (CRLB) accuracy very well over small noise region.The theoretical derivation is corroborated by simulations.