Asymptotic Pseudo-linear Bias-compensation Bearing-only Localization with Unknown Error Variances

The effect of target localization is always undermined by both sensor position and measurement errors in practice. To alleviate this problem, the asymptotic pseudo linear bias-compensation (APBC) method is presented for bearing-only localization when some error variances are unknown. Depending on the different availability of the error variances, the discussion is divided into two subcategories. It can be proven that the method presented provides consistent location estimates. Numerical examples are simulated to verify the performance advantages of the proposed method.