Moving Target Localization in Multistatic Sonar by Differential Delays and Doppler Shifts

A moving target creates the Doppler effect on the transmitted signal, which can be exploited to improve the target localization accuracy in multistatic sonar that normally utilizes differential delay time measurements only. In this letter, we first examine the contribution of Doppler measurements via the Cramer-Rao lower bound (CRLB) study, and then develop an algebraic closed-form solution for the moving target localization problem. The proposed algorithm is shown in both theory and simulation to be able to reach the CRLB performance under Gaussian noise, when the measurement error is small.