Algorithm 1 Proposed hybrid target localization algorithm under unknown TP and PLE.

1. Estimate the target position from AOA measurements. Solve ${\widehat{\mathbf{x}}}_{AOA}={\left(B^T{C}_A^{-1}B\right)}^{-1}{B}^T{C}_A^{-1}\mathbf{c}$ (24) 2. Estimate the TP and PLE using the KF. i. Initialize ${\mathbf{z}}_0={\mathbf{z}}_{LS}$ and $Q_0=I_2$. ii. Predict and update ${\mathbf{z}}_k$, $K_k$ and $Q_k$. (30) for $k=1,\cdots ,K$ Predict: ${\mathbf{z}}_{k\mid k-1}={\mathbf{z}}_{k-1}$ $Q_{k\mid k-1}=Q_{k-1}$ Update: ${\mathbf{z}}_k={\mathbf{z}}_{k\mid k-1}+K_k({\mathbf{p}}_k-H{\mathbf{z}}_{k\mid k-1})$ $K_k=Q_{k\mid k-1}{H}^T{(H{Q}_{k\mid k-1}{H}^T+R)}^{-1}$ $Q_k=(I-K_{k}H)Q_{k\mid k-1}$ end 3. Estimate the target position using EC-WLS with the estimated parameters ${\mathbf{z}}_K$ (TP and PLE). Solve ${\widehat{\mathbf{x}}}_{ECWLS}={\left(A^T{\overline{C}}^{-1}A\right)}^{-1}{A}^T{\overline{C}}^{-1}\mathbf{b}$ (35)