The robust three-dimensional position architecture is proposed in the paper, where the hybrid time difference of arrival (TDOA) and direction of arrival (DOA) position system was designed to backup the four-station TDOA position system. The digital time delay estimation (TDE) receiver is used for TDOA measurement and the cylindrical array antenna is used for DOA measurement. The general formula of linear phase compensation for cylindrical array antenna in horizontal plane is derived. The detection probability of the TDE receiver and the circular error probability (CEP) of the position systems over Rayleigh fading channel were numerically computed in three-dimensional space. Simulations indicate that the position accuracy of the four-station TDOA position system is degraded but the location function can be retained by the hybrid TDOA and DOA position system when any one of four-stations is out of work.