A modified extended Kalman filter for bearings-only tracking

In this paper a Modified Extended Kalman Filter (MEKF) for the problem of Bearings-Only Tracking (BOT) is proposed. The suggested filter takes into account the amount of nonlinearity introduced through bearing measurements and adjusts the estimated range. In addition, it adds sufficient stabilizing noise to the error covariance matrix to make the filter consistent. Simulation results demonstrate an obvious superiority in terms of precision over the standard Extended Kalman Filter (EKF) tracking scenarios.