Arctangent 1 Bearing 1 Bivariate gaussian distributions 1 Cartesians 1 Close range 1 Extended Kalman filters 1 Gaussian 1 Gaussian distribution 1 Gaussian noise (electronic) 1 Gaussians 1 Kalman filter 1 Mathematical transformations 1 Non-linear transformations 1 PDF 1 Polar transformations Probability density function 1 State-variables 1 Two-dimensional 1