The simulation results indicate that the variable cycle RP-EKF algorithm can resolve the filtering instability of EKF for the bearing-only target tracking and the time-delay problem.

仿真结果表明变周期距离参数化扩展卡尔曼滤波算法能有效解决经典扩展卡尔曼滤波算法在纯方位角目标跟踪时可能出现的滤波发散现象，并能处理声音信号的传输时间延迟问题。

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Passive bearings-only target motion analysis (BO-TMA) is to estimate the position and velocity of a target from bearing measurements with corrupted noise obtained by an observation platform.

被动式纯方位目标运动分析(BO - TMA)是一种从探测器所观测到的加噪方位信息中估计目标运动要素的方法。

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Tracking target by using anti-helicopter mine (AHM) is actually the bearing-only measurement because precision of range detected by passive acoustic measurement cant satisfy the need of tracking.

目前被动声探测距离精度还不能满足跟踪的需要，因此，反直升机智能雷对目标的跟踪问题归结为仅有角测量的跟踪问题。

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