Emitter Localization Given Time Delay and Frequency Shift Measurements

Given time and frequency differences of arrival measurements, we estimate the position and velocity of an emitter by jointly eliminating nonlinear nuisance parameters with an orthogonal projection matrix. Although simulation results show that this estimator does not always perform as well as the two-step estimator, the benefit is its computational simplicity. Whereas the complexity of the two-step estimator increases cubically with respect to the number of sensors, the complexity of the proposed estimator increases quadratically.