Your idea is not new. You can lose the central station and have the
vehicle send CW pulses with a stable frequency and fixed period. The
position of the vehicle can be inferred from the difference in toa of the
pulses wrt initial toa before launch (toa keeps increasing). The speed can
be inferred in real time from doppler or later from toa->distance
computation. The base stations need good clocks (each its own). None of
the antennas needs to be directional. Choose a high frequency (2.4GHz or
above) to get good doppler and time resolution.

Peter

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