1Recursive Bayesian Estimation Bearings-only Applications

Abstract In this paper Bayesian recursive estimation methods are applied to several bearings-only applications. Both Air-to-Air passive ranging as well as terrain induced constraints for Air-to-Sea applications are discussed. The bearings-only problem is tested on experimental data from a torpedo, i.e., Sea-to-Sea with a passive sonar sensor. The Bayesian estimation problem is solved using both the particle lter method and the marginalized particle lter. As a comparison the range parameterized extended Kalman lter (RPEKF) is used. In a simulation study the particle lter outperforms the RPEKF. I