Abstract:

To solve the positioning problems between two moving bodies,we  presents a kind of positioning method based on phase change rate in two-dimensional model,conducts and gives the results of observability analysis.Several classical nonlinear filtering algorithms are introduced and the  EKF（Extended Kalman Filter）、UKF（Unscented Kalman Filter）、PF(Particle Filter） are applied to the Location model.Simulation results show  that UKF takes the least time and PF is the
 algorithm with best accuracy.

Key words: relative localization;phase change rate, observability analysis, extended Kalman filter(EKF), unscented Kalman filter(UKF), particle filter(PF)