Passive location and tracking of 3-D moving emitter using DOA and TOA measurements

A moving emitter can be located and tracked by using measurements of direction of arrival (DOA) and time of arrival (TOA) from a single nonmaneuvering observer. This technique is extended to the tracking of a three-dimensional moving emitter with a constant velocity. A recursive nonlinear least-squares estimation algorithm is derived. Furthermore, a Levenberg-Marquardt least-squares (LM-LS) iterated filtering algorithm is proposed to improve the global convergence of Gauss-Newton iterations. The square-root filtering technique is also used, combining easily with the LM-LS method. Results of computer simulation to illustrate the performance of these algorithms are presented