This is the thesis of Itamar Weiss "Direct moving transmitter geolocation based on delay and Doppler"

Abstract:

We analyze the problem of geolocating a single moving transmitter using an array of stationary receivers, and propose a one-step algorithm. Although many common methods address this problem, they all consist of suboptimal two-step algorithms: at the first step, several signal parameters are extracted at each receiver such as Time Of Arrival (TOA) or Angle Of Arrival (AOA), while at the next step the extracted parameters are used to estimate the location of the transmitter. The proposed algorithm uses the same data used in common methods. However, it is performed in a single step by maximizing a cost function that depends on the unknown position and velocity only. This is a natural extension of the Direct Position Determination (DPD) algorithm for the scenario in which the transmitter is moving in an unknown velocity. In this work, we model the problem, present the Maximum-Likelihood (ML) cost function, explore the ML cost function for its characteristics, suggest algorithms relevant to different scenarios, present the Cramer-Rao lower Bound (CRB) of the problem and compare numerically the performance of the suggested algorithms to the CRLB and to the performance of the classical two-step methods. We show that the suggested algorithm achieves better performance than classical methods, especially in low Signal to Noise Ratio (SNR) scenarios