Fig.1

Schematic diagram of FDOA positioning scenario in this paper

Fig.2

Geometric analysis of estimation error under two equality constraints

Fig.3

Curves of CRLB for RMSE of emitter position and velocity estimation

Table 1

Numerical values of CRLB for RMSE of emitter position and velocity estimation

Table 2

Numerical values of longitude， latitude， altitude and velocity of observation platforms

Fig.4

Principle block diagram of separate estimation method for position vector and velocity vector

Fig.5

Computational flow diagram for solving constrained optimization problem in Eq.（37）

Table 3

Computational procedure and number of real-number multiplications of proposed FDOA positioning method

Fig.6

Scatter plot of positioning results and ellipse curves of positioning error of proposed method in ECEF coordinate system

Fig.7

Iterative curves of latitude and longitude for proposed method （results of 30 randomly selected Monte Carlo experiments）

Fig.8

Boxplot of RMSE of position estimation and corresponding CRLB as a function of parameter δ forproposed method

Fig.9

Boxplot of RMSE of velocity estimation and corresponding CRLB as a function of parameter δ forproposed method

Fig.10

Curves of RMSE of emitter position and velocity estimation versus δ1

Fig.11

Curves of RMSE of emitter position and velocity estimation versus δ2

Fig.12

Curves of RMSE of emitter position and velocity estimation versus δ

Fig.13

Curves of emitter position and velocity estimation biases versus height Δhe

Fig.14

Curves of RMSE of emitter position and velocity estimation versus height Δhe