Ffects of Coordinate Shifts on Tls Estimation Bias in Bearings-Only Target Localization Problems

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This paper analyzes the effects of local coordinate shifts on the resulting estimation bias for the total least squares (TLS) bearings-only target location algorithm. The TLS estimator has been proposed to alleviate the severe bias problems associated with the traditional pseudolinear estimator. An interesting property of the TLS estimator is that its bias is affected by changes in the origin of the local Cartesian coordinates. This is formally proven and demonstrated in the paper. Suggestions are also provided as to how to reduce the TLS estimation bias through local coordinate shifts