A new joint location method (MWLS-FA), combining the Modified Weighted Least Squares (MWLS) method and the Firefly Algorithm (FA), is proposed to solve the poor timeliness problem in the case of 4 receivers in the three-dimensional moving target passive location system based on Time Difference of Arrival (TDOA) and Frequency Difference of Arrival (FDOA). This method first modifies the Weighted Least Squares (WLS) method by constructing a new set of equations, such that the MWLS method can also obtain the initial values of the target position and velocity in the case of 4 receivers. Then, this initial value is used to provide a dynamic search area for the FA method which is also adjusted and improved in adding constraints and selecting parameters. Simulation results show that the accuracy of the proposed method can reach the Cramer-Rao Lower Bound (CRLB), and is remarkably better than the traditional search methods in terms of timeliness and noise resistance. Meanwhile, the accuracy of this method is superior to Two-Step Weighted Least Squares (TSWLS) and Constrained Weighted Least Squares (CWLS) in the case of 5 receivers.
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