中文摘要：

在考虑卫星姿态和WGS-84椭球地球模型条件下,提出了一种基于目标卯酉圈半径迭代的测向定位新方法,并推导了存在测向误差条件下定位误差的克拉美-罗下限（CRLB）。仿真表明,该方法的定位性能在测向误差不是特别大时可以达到CRLB,而且卫星的姿态对定位误差的几何精度因子（GDOP）有一定影响。

英文摘要：

Considering the known satellite attitude and WGS-84 earth sphere model,a new direction-finding localization method based on the target prime vertical radius iteration is proposed.The Cramér-Rao lower bound（CRLB） of the localization error is derived when errors exist in direction measurements.Simulation results show that the performance of proposed method could reach CRLB when the direction error is not very large,and the attitude of satellite can affect the distribution of the geometric dilution of precision（GDOP）.