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We consider the problem of collaborative bearing estimation using a methodwith historic roots in set theoretic estimation techniques. We refer to thismethod as the Convex Combination Ellipsoid (CCE) method and show that itprovides a less conservative covariance estimate than the well known CovarianceIntersection (CI) method. The CCE method does not introduce additionaluncertainty that was not already present in the prior estimates. Using ourproposed approach for collaborative bearing estimation, the nonlinearity of thebearing measurement is captured as an uncertainty ellipsoid thereby avoidingthe need for linearization or approximation via sampling procedures.Simulations are undertaken to evaluate the relative performance of thecollaborative bearing estimation solution using the proposed (CCE) and typical(CI) methods.

Collaborative Bearing Estimation Using Set Membership Methods