An algorithm for refinement of the position of a light UAV on the basis of Kalman filtering of bearing measurements

The problem of determination of the coordinates of a light unmanned aerial vehicle (UAV) from bearing measurements of the observed object with known coordinates is considered. This type of problems arises when the UAV performs a reconnaissance mission during which application of active measurement methods is impossible. To refine the UAV coordinates, binding to ground reference points (a network of radar towers taking the UAV bearing and transmitting the bearing data to the UAV at a certain prefixed frequency) is used. In this paper, a 2D case, namely, plane motion of the UAV at a constant altitude is considered.