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A novel closed-form estimator for 3D source localization using angle of arrivals and gain ratio of arrivals

This paper presents a new closed-form solution for 3D source localization using the hybrid measurements of angles of arrival and gain ratios of arrival. Under the small Gaussian noise condition, we linearize the hybrid measurement equations to obtain a weighted least-squares solution and then the mean-square error matrix of the proposed method is derived. Theoretical analysis and simulations show that the proposed estimator can achieve the Cramer-Rao bound over the small error region.