The paper presents a time-difference-of-arrival (TDOA) position estimation algorithm for indoor positioning in the present of clock drift in a mobile terminal. Then, a new Cram??er-Rao bound is derived as a benchmark of the algorithm. The simulation results show that an acceptable positioning accuracy can be achieved when at least five access points in wireless local area networks are involved in positioning. Moreover, when the clock drift or the TDOA is considerably large, the proposed algorithm outperforms the algorithm without considering the clock drift. Index Terms ?? Positioning, time-difference-of-arrival (TDOA), clock error, clock drift, Cram??er-Rao bound (CRB)
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