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Emitter localization using a single receiving station is explored. We propose algorithms for transponder-aided positioning of an emitting station where the transmitted waveform is either known or unknown a priori. The emitter position is estimated directly (in a single-step) from the received signal samples. Numerical examples are provided to illustrate the performance. The results are compared with the Cramér-Rao lower bound, for which a closed-form expression is derived.