“…The conventional decentralized positioning methods require two-steps procedure [1][2][3]. Under the decentralized framework, firstly, the measurements, such as the angle of arrival (AOA) [4,5], the time of arrival (TOA) [6,7], the time difference of arrival (TDOA) [8,9], frequency of arrival (FOA) [10,11], the frequency difference of arrival (FDOA) [12,13], the received signal strength (RSS) [14], and the gain ratios of arrival (GROA) [15,16], are extracted from the received signals, and then the data collected by sensors are stored in data processing center to estimate the source position using various location methods. However, in order to achieve the optimal performance of the two-step methods, measurements must correspond to a single emitter.…”