Precision geolocation of moving or fixed transmitters using multiple observers

A method of geolocating a moving transmitter at position {right arrow over (X)}o(t) observed by a plurality (N) of moving collector devices at positions {right arrow over (X)}i(t), comprising:

• (1) obtaining (N−1) wavelength-scaled phase difference measurements taken from independent pairwise combinations of the plurality of moving collector devices at a plurality of discrete times, the first measurement taken at k=0, according to
• ΔΦij=Φj(k)−Φi(k), and
• Φi(k)=|{right arrow over (X)}i(k)−{right arrow over (X)}o(k)|/λ+Θi
• where:
• i and j are each one of the plurality of collectors (i,j=1, 2, . . . , N)
• Θi and Σj are unknown constant phase offsets of the plurality of moving collector devices,
• λ is the transmitter wavelength, and
• k is the discrete time;
• (2) differencing said plurality of the (N−1) wavelength scaled phase difference measurements, resulting in a plurality of values of range differences to the transmitter associated with pairwise combinations of receivers;
• (3) on the basis of the plurality of values of range differences to the transmitter associated with pairwise combinations of receivers, calculating a lattice of points representing potential transmitter locations;
• (4) repeating steps 1-3 over time as at least one receiver is moved, resulting in multiple lattices of potential transmitter location;
• (5) comparing the lattices generated by steps 1-4 to narrow the selection of potential transmitter locations.