关键词: 移动台跟踪, 粒子滤波, 到达时间和（TSOA）, 到达角度（AOA）

Abstract: TSOA/AOA is a new positioning system in CDMA cellular networks.This paper presents the principle of TSOA/AOA passive positioning with single equipment.The dynamics of the system under consideration are described by a nonlinear state-space model.Then，a passive mobile tracking technique is proposed based on particle filter，which is a powerful method dealing with highly non-linear/non-Gaussian problem.The technique allows for accurate estimation of Mobile Station’s（MS） position and speed.The simulation results indicate this method can achieve higher accuracy than extended Kalman filter tracking algorithm．

Key words: mobile tracking, particle filter, Time Sum of Arrival（TSOA）, Angle of Arrival（AOA）