In the time delay difference localization estimation methods based on the particle filter, the importance density
function is the key to the performance of time delay difference estimation. A time delay difference estimation method based
on cubature particle filter(BCPF-TDE) is proposed, which uses the latest measurements to generate the importance density
function through cubature Kalman filter(CKF). The simulation results show that when the particle number is the same,
compared with the time delay difference estimation based on extended particle filter(BEPF-TDE), the localization error of
BCPF-TDE is about 50% of BEPF-TDE’s, but the run time of the time delay difference estimation based on cubature particle
filter(BCPF-TDE) is close to that based on BEPF-TDE.