Passive location using time of arrival along with direction of arrival and its changing rate

Passive location is a widely investigated problem. In this paper, a pseudo-linear algorithm for moving emitters passive location and tracking based on time of arrival (TOA), direction of arrival (DOA) and DOA changing rate measurements by a non-moving observer is given. This algorithm has high convergence speed and stability, so it is of great practicability. The observability conditions of location and tracking for moving emitters using TOA and DOA measurements are analyzed. Finally, the computer simulation results are presented.