{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,13]],"date-time":"2026-02-13T13:22:38Z","timestamp":1770988958127,"version":"3.50.1"},"reference-count":36,"publisher":"MDPI AG","issue":"15","license":[{"start":{"date-parts":[[2021,7,24]],"date-time":"2021-07-24T00:00:00Z","timestamp":1627084800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61971412"],"award-info":[{"award-number":["61971412"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>In bearings-only target tracking, the pseudo-linear Kalman filter (PLKF) attracts much attention because of its stability and its low computational burden. However, the PLKF\u2019s measurement vector and the pseudo-linear noise are correlated, which makes it suffer from bias problems. Although the bias-compensated PLKF (BC\u2013PLKF) and the instrumental variable-based PLKF (IV\u2013PLKF) can eliminate the bias, they only work well when the target behaves with non-manoeuvring movement. To extend the PLKF to the manoeuvring target tracking scenario, an unbiased PLKF (UB\u2013PLKF) algorithm, which splits the noise away from the measurement vector directly, is proposed. Based on the results of the UB\u2013PLKF, we also propose its velocity-constrained version (VC\u2013PLKF) to further improve the performance. Simulations show that the UB\u2013PLKF and VC\u2013PLKF outperform the BC\u2013PLKF and IV\u2013PLKF both in non-manoeuvring and manoeuvring scenarios.<\/jats:p>","DOI":"10.3390\/rs13152915","type":"journal-article","created":{"date-parts":[[2021,7,25]],"date-time":"2021-07-25T22:07:00Z","timestamp":1627250820000},"page":"2915","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["Bearings-Only Target Tracking with an Unbiased Pseudo-Linear Kalman Filter"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1817-221X","authenticated-orcid":false,"given":"Zihao","family":"Huang","sequence":"first","affiliation":[{"name":"Institute of Acoustics, Chinese Academy of Sciences, Beijing 100190, China"},{"name":"School of Electronic, Electrical and Communication, University of Chinese Academy of Sciences, Beijing 100864, China"}]},{"given":"Shijin","family":"Chen","sequence":"additional","affiliation":[{"name":"Institute of Acoustics, Chinese Academy of Sciences, Beijing 100190, China"},{"name":"School of Electronic, Electrical and Communication, University of Chinese Academy of Sciences, Beijing 100864, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9643-1099","authenticated-orcid":false,"given":"Chengpeng","family":"Hao","sequence":"additional","affiliation":[{"name":"Institute of Acoustics, Chinese Academy of Sciences, Beijing 100190, China"}]},{"given":"Danilo","family":"Orlando","sequence":"additional","affiliation":[{"name":"Department of Engineering, University of Niccolo Cusano, via Don Carlo Gnocchi 3, 00166 Rome, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2021,7,24]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"564","DOI":"10.1109\/TAES.1978.308681","article-title":"Position and Velocity Estimation Via Bearing Observations","volume":"AES-14","author":"Lingren","year":"1978","journal-title":"IEEE Trans. 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