... nAOA,iis the noise in rAOA,i.Equation(14) can also beexpressed in vector form asrAOA= fAOA(x)+nAOA, (15)whererAOA=rAOA,1rAOA,2···rAOA,MT,nAOA=nAOA,1nAOA,2···nAOA,MT,fAOA(x) ... {nTDOA,i},{nRSS,i} ,and{ nAOA,i} are sufficiently small and aremodeled as zero-mean Gaussian random variableswith known covariance matrices, denoted by Cn,TOA,Cn,TDOA, Cn,RSS,andCn,AOA,respectively.Thezero-mean ... of abbreviations and symbols.AOA Angle-of-arrivalCWLS Constrained weighted least squares CRLB Cram´er-Rao lower boundNLS Nonlinear least squares RSS Received sig nal strengthTOA Time-of-arrivalTDOA...