[6] [6] Vincent J A,Sherrye H.Utilization of modified polar coordinates for bearing-only tracking [J].IEEE Trans on Automatic Control,1989,28(2) :2-16.

[7] [7] Aidala V.Kalman filter behavior in bearing-only tracking applications[J].IEEE Transactions on Aerospace and Electronic Systems,1979,AES-15(1): 29-39.

[8] [8] Song T L,Speyer J.A stochastic analysis of a modified gain extennded Kalman filter with applications to estimation with bearings only measurements[J].IEEE Trans on Automatic Control,1985,AC-30(10): 940-949.

[9] [9] Fagin S.Comments on a method for improving extended Kalman filter performance for angle-only passive ranging[J].IEEE Trans on Aerospace and Electronic Systems,1995,31(3):1148-1150.