Abstract: ‍ ‍This paper addresses the moving target localization jointly using angle， time delay and Doppler shift measurements in Multiple Input Multiple Output （MIMO） radar with widely separated antennas. A novel algebraic solution for target position and velocity estimation is proposed. By using azimuth and elevation angle， the nonlinear time delay and Doppler shift measurements， equations are converted to linear ones； then， the target position and velocity are obtained by using weighted least squares （WLS） minimization. Compared with existing algorithms based on multi-stage WLS ideas， the proposed solution does not introduce any nuisance parameters and it identifies the target position and velocity in only one stage， which avoids the interstage error propagation and locates target with minimum number of transmitters and receivers. Moreover， the proposed solution considers the influence of transmitter and receiver location uncertainties on the localization accuracy， and improves the robustness to these uncertainties. Theoretical analysis indicates that the proposed solution reaches the Cramér-Rao lower bound. Simulation results verify the effectiveness and superiority of the proposed solution over existing algorithms.