The Bearings-only OF-MD Tracking Algorithm Based on Double Observers

Due to the measurement noise, the accuracy of the double observers' cross-location method is low. Based on the Fisher information matrix of the double observers, the Cramer-Rao low bound (CRLB) of the double-observers bearings-only tracking is figured out, the proposed optimal fit matrix decomposition algorithm(OF-MD) is used to estimate target's position which do uniform linear motion. Finally, the convergence of the algorithm is compared with the CRLB in different noise cases by the means of simulation. With the increasing number of tracking points, the result is closer to the real target track.