By utilizing the time difference of arrival (TDOA), the frequency difference of arrival (FDOA), and the differential Doppler rate (DDR) measurements from sensors, this paper proposes an effective moving source localization algorithm with closed solutions. Instead of employing the traditional two-step weighted least squares (WLS) process, the Lagrange multiplier technique is employed in the first step to obtain the initial solution. This initial solution yields a better solution than the existing solution because the dependence among the variables are taken into account. The initial solution is further refined in the second step. The simulation results verify the effectiveness of the proposed algorithm when compared with the relevant existing algorithms.
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