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A pseudo-linear kulman filter(PLKF)algorithm was presented for tracking a moving target by using DOA and TDOA measurements based on two stations. 建立了两站基于角度(DOA)和时差(TDOA)信息的伪线性观测模型,基于该模型提出了匀速运动目标的伪线性卡尔曼滤波(PLKF)算法。