A Spherical Earth Solution for TOA Lightning Location Retrieval

The problem of retrieving ligntning, ground-strike location on a spherical Earth surface using a network of 4 or more time-of-arrival (TOA) sensors is considered, It is shown that this problem has an analytic solution and therefore does not require the use of nonlinear estimation theory (e.g., minimization). The mathematical robustness of the analytic solution is tested using computer-generated lightning sources and simulated TOA measurement errors. A summary of a quasi-analytic extension of the spherical Earth solution to an oblate spheroid Earth geometry is also provided.