UAV-Assisted 3-D Localization for IoT Networks Using a Simple and Efficient TDOA-AOA Estimator

This letter proposes an algebraic solution for the problem of 3-D source localization utilizing the minimum number of measurements, i.e., one Time Difference of Arrival (TDOA) and one Angle of Arrival (AOA) pair. The proposed method employs a closed-form weighted least squares estimator and enables the positioning using a single ground station and a cooperative UAV relaying the signal. Analytical derivations and simulation results demonstrate effectiveness of the proposed approach, achieving near-optimal performance aligned with the Cramér-Rao Lower Bound (CRLB) under moderate Gaussian noise conditions.