Time delay and Doppler shift between the echo signal and the reference signal are two most commonly used measurements in target localization for the passive radar.Doppler rate,which can be obtained from the extended cross ambiguity function,offers an opportunity to further enhance the localization accuracy.This paper considers using the measurement Doppler rate in addition to measurements of time delay and Doppler shift to locate a moving target.A closed-form solution is developed to accurately and efficiently estimate the target position and velocity.The proposed solution establishes a pseudolinear set of equations by introducing some additional variables,imposes weighted least squares formulation to yield a rough estimate,and utilizes the function relation among the target location parameters and additional variables to improve the estimation accuracy.Theoretical covariance and Cramer-Rao lower bound (CRLB) are derived and compared,analytically indicating that the proposed solution attains the CRLB.Numerical simulations corroborate this analysis and demonstrate that the proposed solution outperforms existing methods.