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The problem of estimating source location from noisy measurements of range differences (RD's) is considered. A localization technique based on solving a set of linear equations is presented and its accuracy properties are analyzed. An optimal weighting matrix for the least squares estimator is derived. The analytical expressions for the variance and bias of the estimator are validated by Monte-Carlo simulation. The problem of estimating source velocity given measurements of range differences and range-rate differences is briefly considered, and a linear equation technique is derived.