Bearings-Only Passive Ranging Using Kalman-Bucy And Moore-Penrose Methods
Floyd H. Hollister · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1982
Passive ranging can be performed using a Kalman-Bucy (KB) filter to process noisy sequential bearing measurements made by a moving observer. This can be performed also using the Moore-Penrose (MP) pseudomatrix inverse to obtain a least-squares fit to the observed bearing measurements. The advantage of the MP method is that no linearizations or state/covariance initializations are required. This paper formulates a two-dimensional bearings-only passive-ranging problem for solution by the KB and MP methods and compares the performance of the two methods.