Abstract: Force Engineering Univ., Sanyuan 713800， China)
For the single sensor target tracking with bearing-only measurement, a novel trajectory invariable-information target tracking algorithm is proposed. A new cotangent theorem is deduced to solve the nonlinearity for bearing-only measurement. Both the heading angle calculation and the invariable-information of target trajectory are deduced to estimate the target bearing. For asynchronous bearing-only measurements from multiple sensors, a new two-sensor-with-bearing-only measurement target tracking method is brought forward, which estimates the target position by the geometry between sensors and target. Simulation results show that the new algorithm achieves a favorable tracking precision.

Key words: geometry theorem, target tracking, bearing-only measurement