Localization with Doppler biased TOAS: An ill-conditioned problem

This paper investigates moving target localization by the biased time-of-arrivals (TOAs), where an extracted TOA is biased by the unknown Doppler of the target. The phenomenon applies to radar and sonar systems that employ Doppler tolerant waveforms. While in principle those would allow the estimation of both position and velocity using position-only measurements, we unfortunately find that the Fisher information matrix is ill-conditioned. However, a Quasi-maximum likelihood estimator based on the misspecified model is suggested, and its performance is analyzed.