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中文摘要：
推导了匀速运动目标球坐标系下的定向跟踪模型；状态建模的不完备性引起了模型噪声方差阵带有未知径距参数，因而需要解决参数在线辨识问题。从滤波残差正交性原理出发，推导出参数自适应辨识滤波器（PIBF），计算机仿真验证了该算法的有效性并且对目标机动有一定的鲁棒性。
英文摘要：
In this paper, a dynamic model in the spherical coordinate is presented for bearing-only target positioning. However, such model has unknown covariance of process noise, which is related to the range between the target and the passive sensor. Based on the principle of the orthogonality among filter residuals, a on-line parameter identification method is proposed, which results in Parameter-Identification Based Filter （PIBF）. And simulation results show that the new filter is very effective and even has strong robustness to unknown target maneuvers.
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