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Scan-based emitter localization is a passive geolocation technique for stationary pulsed radars. In scan-based localization, knowledge of radar scan rate and radar beam intercept times are used to determine subtended angles of the radar location from receiver pairs. A collection of subtended angles is utilized to estimate the radar location. The paper presents a maximum likelihood (ML) scan-based localization algorithm and derives the Cramer-Rao lower bound (CRLH) for emitter location estimate. Based on maximization of the determinant of the Fisher information matrix, online gradient-based receiver trajectory optimization algorithms are developed. The effectiveness of the proposed algorithms is illustrated with simulation examples.