基于这样的背景，本文从目标定位、时间配准和非线性滤波算法三个方面对多站纯方位被动跟踪系统进行了研究和算法改进。

According to this, this paper focuses on the study of bearings-only passive tracking system in the aspects of the target location, time alignment and nonlinear filtering algorithm.

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事实上，该方法也适用于多平台多目标的纯方位交叉定位，因为它只是一个特例。

In fact, this method is also suitable for multi-platform multi-targets bearings-only cross location, because it is only a special example.

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纯方位角无源定位时，观测平台的运动轨迹对目标最终的定位精度有重要影响。

The observer's trajectory has an crucial importance on the accuracy of bearings-only target localization.

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