“…For stationary Gaussian signals in acoustic sonar applications, the TDOA and FDOA measurements are asymptotically uncorrelated and the CRLB matrix of joint TDOA/FDOA measurements is in block-diagonal form under relatively mild conditions such as sufficiently large signal time-bandwidth product and moderately high signal-to-noise ratio [31][32][33]. In contrast, the TDOA and FDOA measurements are strongly correlated for deterministic non-stationary non-Gaussian signals, especially chirp-like signals in radar applications [32,33]. The covariance matrices for the TDOA measurements, εε K k , and the FDOA measurements, ϱϱ K k , are modeled at each time instant by [34] i k …”