“…In recent years, much research has been done on the topic of localization by estimating the directions-of-arrival (DOA) (i.e., azimuth angles and elevation angles) and ranges of multiple targets in many applications, such as radar, sonar, and wireless communications [ 1 , 2 , 3 ]. Many methods based on one-dimensional (1D) uniform linear array (ULA) have been proposed for estimating azimuth angle [ 4 , 5 , 6 , 7 ], or joint range and azimuth angle estimation [ 8 , 9 ], such as the well-known multiple signal classification (MUSIC) algorithm [ 4 ] and estimation of signal parameters via rotational invariance techniques (ESPRIT) algorithm [ 5 ], and the generalized MUSIC and ESPRIT [ 6 , 7 ].…”