依据被动定向声纳浮标多站纯方位定位的使用特点，采用分步进行的方法估计潜艇目标的运动状态。首先，使用最小二乘法融合多枚浮标的测量信息，给出某一时刻目标位置的综合定位结果和定位误差；然后，利用卡尔曼滤波器估计目标在该时刻的位置、航速和航向等运动参数，避免了直接从方位测量入手时，需要建立非线性量测方程，再进行线性化的问题；最后，采用蒙特卡洛仿真方法统计分析了系统的误差性能，结果表明该方法具有较高的目标运动分析精度，而将目标运动参数估计改用扩展卡尔曼滤波器时，精度明显降低。

Multistation bearingonly target location was the common measure for the passive directional sonobuoys to locate undersea targets.According to this characteristic,the locating results and errors obtained from multiple sonbuoys were fused by using linear least squares method,and the integrated locating result and error at a certain moment were obtained.Then,the location,velocity and course of the target were estimated by using Kalman filter.This method was able to avoid linearizing a nonlinearity problem.Finally,the precision was analyzed by making a Monte Carlo simulation.The result showed that this method has higher precision for moving target analysis compared with the method of EKF.