A dynamic bias analysis of the pseudolinear Kalman filter for bearings-only estimation

The Pseudolinear Kalman Filter (PLKF) is widely used in the bearings-only target tracking problem, while the dynamic bias analysis is not yet carried out. This paper puts forward a bias analysis of the PLKF for bearings-only estimation based on the constant velocity (CV) model. The mechanism of the bias variation is revealed. Empirical evidence is provided with corresponding argumentation to verify the bias analysis and the generalization utilizing the constant velocity model. Bias analysis of the batch pseudolinear estimator is shown not valid for that of the PLKF in the simulation results.