Unbiased Conversion of Passive Sensor Measurements
Michael Kowalski, Yaakov Bar‐Shalom, Peter Willett, Tim Fair · 2019
Passive sensor target tracking has the challenge to 3-D tracking applications in that the raw angle-only measurements cannot be converted into Cartesian measurements. Multi-sensor methods can be used to convert the raw measurements into Cartesian measurements by finding the intersection of the two lines of sight. Examples include triangulation, law of sines, and maximum likelihood estimation. However, many of these methods can have an inherent bias present in the conversion as a result of its nonlinearity. In long range applications this can cause significant error. This paper investigates the conversion of passive sensor angle-only measurements into Cartesian coordinates and evaluates the conversion bias present in triangulation.