Passive Location to Moving Emitter Using DOA and Its Rate of Change

The theory of passive location to moving emitter on the ground using DOA (direction of arrival) and its rate of change is described. Expression of observability is obtained by Jacobi matrix and conditions of observability under different relative motion states are discussed. A location algorithm which involves DOA and its rate of change based on MGEKF (Modified Gain Extended Kalman Filter) is put forward, and comparisons with the location algorithm only using DOA and other classic algorithms------EKF ------ are also given respectively according to simulation results.