TDoA and DoA measurements, and the target position estimation results are obtamed based on the signal acquired by the stations and precision of tracking in a period.

• 该算法利用时间差和角度测量的结果，使用扩展卡尔曼滤波对目标跟踪，通过对每个周期各站截获信号和对目标跟踪精度的情况，选择输出两种方法对目标位置估计结果。