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Hypothetical Analytic Filter for the tracking with bearing and range mixture measurements

This paper introduces a hypothetical analytic filter, which is used for the nonlinear tracking problems with noisy bearing and range mixture measurements. The main idea of this filter is to divide the tracking process into two parts, track the target with the bearing information first, and then use the range information to make the tracking process more accurate. This separation is complimentary for that the bearing-correction could overcome the bimodal problem of range-only estimation and the range-only tracking can make the performance more accurate. Compared with other nonlinear filters, it converges very quickly and works well in some scenarios. The lower computation demand and its robust convergence are two main advantages of this filter.