Constellation of multisensors in bearing-only location system

The constellation of multisensors in a bearing-only location system is studied. Through mathematical calculation, the paper gives the optimal cut angle with the condition that the circular probable error is minimum in the whole detection region. At the same time, the minimum area of the error trapezium is given. The relationship between the circular probable error and the bearing measurements of passive sensors or the cut angle is shown in simulation results, and a positioning error distribution figure is plotted. Some conclusions are drawn that can be used for reference in collocating passive sensors to improve location precision.