Moving target localization in multistatic sonar using time delays, Doppler shifts and arrival angles

Identifying the location of a target is a fundamental application in multistatic sonar. Numerous attempts have been made to improve the accuracy, computational efficiency and robustness of target positioning. Previous studies mostly use time delay and angle measurements for localization, or time delays and Doppler shifts if relative motions exist among the transmitters, target and receivers. This paper considers the joint use of time delay, Doppler shift and angle measurements to locate a moving target. We develop an explicit algebraic solution to the problem, and illustrate the benefit of using all three kinds of measurements. The proposed solution is shown by theoretical performance analysis and confirmed by simulations to be able to reach the Cramer-Rao Bound (CRB) accuracy under Gaussian noise, when the noise level is not significant.