The performance of Single Observer Passive Location using Bearings-Only with the Modified UKF

The bearings-only (BO) method of passive location is modeled and its algorithm and error analyses are shown in this paper, then, the paper introduces the recently developed unscented Kalman filter (UKF). What is more, the modified UKF in application to BO is compared to the traditional extended Kalman filter (EKF). Results using this new algorithm indicate that the improved UKF provides more accurate estimates and easier implementation than EKF which make it more feasible to use. Meanwhile because of the limitation of bearings-only, even if use the UKF to BO, the location effect is also deteriorated when the azimuth angle becomes enlarged