Comparison of 3D Angle-Only Localization Algorithms

This work compares various algorithms for the 3D angle only emitter localization problem. We compare the Extended Kalman Filter, Particle Filter, a Weighted Least Squares solution and combinations of the Extended Kalman Filter with a Particle Filter or the Weighted Least Squares algorithm. The algorithms are compared based on their localization accuracy and speed and on their computational cost. The Particle Filter and the Extended Kalman filter initialized with a Particle Filter-derived estimate appear to be promising solutions for this problem. Especially the Extended Kalman filter initialized with a Particle Filter has significantly lower computational complexity than a standard Particle Filter.