Commentary to: TDOA versus ATDOA for wide area multilateration system

The paper (Stefanski and Sadowski, EURASIP J. Wirel. Commun. Netw. 2018, Article 179) introduces a multilateration algorithm for unsynchronized sensor networks. However, a very similar method has been proposed before that is not cited. Furthermore, in the measurement model of Stefanski and Sadowski (EURASIP J. Wirel. Commun. Netw. 2018, Article 179), an incorrect covariance matrix (Eq. (11) in Stefanski and Sadowski (EURASIP J. Wirel. Commun. Netw. 2018, Article 179)) has been used that leads to inferior results. We summarize the context and explain the measurement methodology proposed in Stefanski and Sadowski (EURASIP J. Wirel. Commun. Netw. 2018, Article 179), while referring to the missing citation. Finally, we derive the correct covariance matrix of the measurement error and demonstrate that the covariance matrix proposed in Stefanski and Sadowski (EURASIP J. Wirel. Commun. Netw. 2018, Article 179) is incorrect.