This letter proposes an algebraic solution for the problem of 3-D source localization utilizing the minimum number of measurements, i.e., one Time Difference of Arrival (TDOA) and one Angle of Arrival (AOA) pair. The proposed method employs a closed-form weighted least squares estimator and enables the positioning using a single ground station and a cooperative UAV relaying the signal. Analytical derivations and simulation results demonstrate effectiveness of the proposed approach, achieving near-optimal performance aligned with the Cram\'er-Rao Lower Bound (CRLB) under moderate Gaussian noise conditions.
@article{arxiv.2510.08765,
title = {UAV-Assisted 3-D Localization for IoT Networks Using a Simple and Efficient TDOA-AOA Estimator},
author = {Mojtaba Amiri and Rouhollah Amiri},
journal= {arXiv preprint arXiv:2510.08765},
year = {2025}
}