The application relates to a method of estimating a location of a source of an
electromagnetic signal. Also disclosed is a
system comprising apparatus for carrying out the method, and a computer-readable medium storing a
computer program for carrying out the method. The method includes: obtaining a first set of equations that, for each of a plurality of receivers of the
electromagnetic signal, relate
time of arrival (TOA), frequency of arrival (FOA), and
Doppler rate of arrival (DROA), to a range between the source and the particular one of the plurality of receivers; selecting a candidate source location in three-dimensional space; obtaining a second set of equations by transforming each of the first set of equations based on a displacement vector; based on the second set of equations, obtaining a set of difference equations comprising, for each of a number of pairs of the receivers, respective equations representing a
time difference of arrival (TDOA) between the pair, a
frequency difference of arrival (
FDOA) between the pair, and a
Doppler rate difference of arrival (DRDOA) between the pair; obtaining a plurality of datasets, each dataset comprising successive data samples representative of the
electromagnetic signal as received at a respective one of the receivers; comparing pairs of the datasets to determine respective measured TDOA,
FDOA and DRDOA values; solving the set of difference equations by searching for a displacement vector that minimises a cost function; and iteratively arriving at an estimate of the location of the
signal source.