A modified covariance extended Kalman filtering algorithm in passive location

In passive location, the information such as bearings, frequency or time-of arrival (TOA) of emitter is always the non-linear function of position in rectangular coordinates. As the erratic performance of extended Kalman filter (EKF) algorithm in passive location, a new filtering method called modified covariance EKF (MVEKF) is put forward in this paper. This method is compared with other usual filtering method used in passive location such as EKE, MGEKF and IEKF by computer simulation. It seems that this method is more robust and has shorter convergence time than EKF and IEKE. Because it doesn't need to find modified function of measurement in MGEKF, it can be used in other non-linear filtering applications.