Passive localization from Doppler shifted frequency measurements

An efficient search scheme for an underwater radiating source is developed by introducing intermediate variables which are products of some of the unknowns. The search dimension is only two, in x- y position, instead of five. The resultant intermediate equations become linear and are easier to solve; the major calculation at each grid point requires an inversion of a 3×3 matrix. The Cramer-Rao bound for localization is also given, together with simulation results that verify the method