This paper proposes a hybrid TOA/AOA (Time of Arrival/Angle of Arrival)-based localization algorithm for Code Division Multiple Access (CDMA) networks. The algorithm extends the Taylor Series Least Square (TS-LS) method originally developed for TOA-based systems to incorporate AOA measurements. In addition, tracking algorithms utilizing velocity and acceleration measurements are investigated. Simulation results illustrate that the proposed TOA/AOA TS-LS can provide better performance than conventional schemes in localization accuracy and in reduced likelihood of encountering non-convergence problem compared with TOA TS-LS. Tracking algorithms using the Extended and Unscented Kalman Filter (EKF and UKF) can track the objects relatively well, further decreasing the positioning error. UKF is found to provide closer tracking of the trajectory than EKF, for it truly captures the statistical mean and variance of the noises.
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