A Hybrid AOA and TDOA-Based Localization Method Using Only Two Stations

Algorithm 1 The joint localization method based on TDOA and AOA information.

(i)	Input: Information of AOA and TDOA, Number of iterations
(ii)	Result: MS position
	(1) Set ; start from one random position
(2) repeat
(3) Construct surrogate functions by using formulas from (22) to (25).
(4) Design objective function (20)
(5) Set and to some initial vector, e.g.,
(6) repeat
(7) Compute using (27)
(8)
until;
(9) Obtain
(10)
until;