A new method of bearings-only target localization based on parameter transformation

Bearings-only target localization problem is a highly non-linear parameter estimation problem. From the theorem of parameters transformation and particle kinematics, a new parameters transformation filter (PTF) for bearings-only (BO) localization of fixed target in two-dimensional space and three dimensions space was proposed in this paper. An invertible mapping function was found, which transformed the nonlinear filtering problem of bearings-only to a linear filtering problem. Simulation results show that it has a lower localization error than the generally used method known as the modified gain extended Kalman filter (MGEKF) in bearings-only localization example.