一种新的约束总体最小二乘法及其在角度定位中的应用

In this paper, a modify constrained total least square is proposed, expanding the coefficients matrix and number vector second order taylor series at the measurement vector, this MCTLS is to minimum the second perturbation by measurement error, analysis the perturbation. Transforming the nonlinear equations about bearing into linear equations for target state vector, and using taylor expanding to change the real bearing equations into the equation for measurement bearing plus noise, so can use MCTLS to solve the location parameters. And analysis the location error, computer simulation proves the validity and feasibility of this algorithm. Finally，the appendix, the location’s CRB and GDOP is given.