Doppler tracking is a common procedure which can be implemented by a multitude of techniques. Also, it is well known that in the absence of a velocity change in the receiver, the solution track is not unique. This paper examines the solution set of the Doppler tracking problem, presenting several new results and placing some of the lore in a more rigorous setting. In particular, it is shown that (in two dimensions) for an isovelocity receiver the solution is determined up to a rotation and reflection in the receiver’s coordinate system. If a single velocity change is present, then there are exactly two solutions. Generalizations to three dimensions are also provided.
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M. Shensa (1981) studied this question.