A Closed-Form Solution for Moving Target Localization With Sphere Constraint

For moving target localization with sphere constraint, the existing methods are essentially iterative and extremely inefficient. Accordingly, based on the well-known two-stage weighted least squares (2SWLS) method, we propose a closed-form solution for moving target localization with sphere constraint. For its explicit expressions, this solution can easily and efficiently estimate the target's position and velocity from the time-of-arrival (TOA) and frequency-of-arrival (FOA) measurements. Furthermore, the numerical simulations demonstrate that the proposed method is able to attain the constrained CramerRao lower bound (CRLB) and superior to the existing methods.