A nearly unbiased inherently stable bearings-only tracker

A pseudolinear estimator for bearings only tracking is presented. It is demonstrated through calculations and simulations that it has a performance close to the computationally far more complex maximum-likelihood estimator, in contrast to the earlier well-known pseudolinear estimator in Cartesian coordinates. Using the mean time point as the time reference of this estimator is necessary in order to avoid bias.<
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