An Efficient Hybrid Multi-Station TDOA and Single-Station AOA Localization Method

Multi-station passive localization algorithms based on hybrid Time Difference of Arrival (TDOA) and Angle of Arrival (AOA) have been thoroughly studied. But it usually requires each station to obtain the AOA of the source and relies on the precise station position. These conditions are generally not satisfied in practical applications. In addition, the geometry between the source and these stations also affects the localization accuracy. This paper studies the passive source localization problem based on multi-station TDOA and single-station AOA measurements. First, we propose a closed-form solution source localization method based on multi-station TDOA and single-station AOA measurements, which requires only the reference station used to calculate TDOA to be able to observe the AOA measurements of the source. It solves the problem of hybrid localization of different numbers of TDOA and AOA measurements. Theoretical analysis proves that the performance of the proposed method can reach the Cramer-Rao Lower Bound (CRLB) under small noise conditions. Then, we model the relationship between the position of each station relative to the source and the localization accuracy. Through the D-optimality criterion, we obtain the optimal geometry between multiple stations and the source Simulation results confirm the validity of these theories.