Observability Analysis of Receiver Localization with DOA Measurements from a Single LEO Satellite

This paper analyzes the observability of terrestrial stationary receiver localization with azimuth and elevation direction-of-arrival (DOA) measurements from a single low Earth orbit (LEO) satellite. The receiver-to-satellite geometric configurations resulting in degeneracy of azimuth and elevation Jacobians are derived. Subsequently, metrics for selecting satellites with the most informative azimuth or elevation measurements are proposed. Finally, it is shown that the three-dimensional receiver localization problem with joint azimuth and elevation measurements is two-step observable.