Direct Position Determination (DPD) of coherent pulse trains using a single moving sensor is considered in this paper. Note that when a large observation window and relative maneuvering course between emitter and receiver both exist, the localization accuracy of Doppler frequency shift only based DPD will decline because of the noticeable Doppler frequency shift variations. To circumvent this problem, a Doppler frequency shift and Doppler rate based DPD approach using a single moving sensor is proposed in this paper. First, the signal model of the intercepted coherent pulse trains is established where the Doppler rate is taken into consideration. Then, the Maximum Likelihood based DPD cost function is given, and the Cramer–Rao lower bound (CRLB) on localization is derived whereafter. At last, the Monto Carlo simulations demonstrate that in one exemplary scenario the Doppler frequency shift variations are noticeable with a large observation window and the proposed method has superior performance to the DPD, which is only based on the Doppler frequency shift.