This paper is devoted to the analysis of the motion of a target using information from two kinds of cooperative maritime sensors: A wireless network of sonobuoys detecting a signal emitted by a source in motion with constant velocity; Vertical antennas measuring the cosine of the elevation angles of the received signal. We prove that the trajectory of the source is observable, under non-restrictive assumptions concerning the scenario. After thresholding, the data are surrounded by false alarms; therefore, a probabilistic data association model is employed. The joint exploitation of the measurements of the time differences of arrival together with the measurements of the cosines of the elevation angles allow estimating the trajectory of the source. The empirical performance of the maximum likelihood estimator (MLE), evaluated by extensive simulations, reaches the asymptotic performance given by the Cramér-Rao lower bound. Finally, we extend our study to the case where the energy of the data is available, after thresholding. Again, the MLE is efficient and its performance is significantly improved.