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The linear trajectory of an airplane with constant velocity is obtained from Doppler shifts at stationary sensors, each yielding a corresponding time of closest approach, closest distance, and speed [3, 8]. Based on these inferences and on the sensors' locations, three sensors yield two candidate trajectories, and four sensors yield one - provided that the locations span R2and R3respectively: constituting observability for the problem at hand.
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David C. Torney (2007) studied this question.
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