中文摘要：

针对单站纯方位观测系统的目标跟踪问题，提出了一种新的单站纯方位目标跟踪算法．通过新提出的余切关系定理，解决了单站纯方位观测的非线性问题．推导了目标航向角估算公式及目标航迹的不变量，利用这个不变量估计目标方位．针对多站纯方位异步观测的目标跟踪问题，提出了一种新的双站纯方位异步观测目标跟踪方法，利用两个观测站与目标的几何关系估计目标位置．仿真实验表明，本算法能有效地实现纯方位目标跟踪．

英文摘要：

For the single sensor target tracking with bearing-only measurement, a novel trajectory invariable- information target tracking algorithm is proposed. A new cotangent theorem is deduced to solve the nonlinearity for bearing-only measurement. Both the heading angle calculation and the invariable-information of target trajectory are deduced to estimate the target bearing. For asynchronous bearing-only measurements from multiple sensors, a new two-sensor-with-bearing-only measurement target tracking method is brought forward, which estimates the target position by the geometry between sensors and target. Simulation results show that the new algorithm achieves a favorable tracking precision.