Converting Bearings-OnlyMeasurements to Cartesian Coordinates

The lack of range information for passive measurements complicates sensor registration, requires one to address the arctangent function´s singularities, and prevents one from applying existing polar to Cartesian conversion mappings. Consequently, a coordinate conversion method is developed for passive measurements using an integral representation. In addition, the existing coordinate conversion methods are shown to differ only by a constant multiplying each converted measurement and in the eigenvalues of the corresponding covariance matrix.