Converting Bearings-OnlyMeasurements to Cartesian Coordinates

The lack of range information for passive measurements complicates sensor registration, requires one to address the arctangent function's singularities, and prevents one from applying existing polar to Cartesian conversion mappings. Consequently, a coordinate conversion method is developed for passive measurements using an integral representation. In addition, the existing coordinate conversion methods are shown to differ only by a constant multiplying each converted measurement and in the eigenvalues of the corresponding covariance matrix.