Passive coherent location (PCL), which uses the commercial signals as illuminators of opportunity, is an emerging
technology in air defense systems. The advantages of PCL are low cost, low vulnerability to electronic counter
measures, early detection of stealthy targets and low-altitude detection. However, limitations of PCL include lack
of control over illuminators, poor bearing accuracy, time-varying sensor parameters and limited observability.
In this paper, multiple target tracking using PCL with high bearing error is considered. In this case, the
challenge is to handle high nonlinearity due to high measurement error. In this paper, we implement the
converted measurement Kalman filter, unscented Kalman filter and particle filter based PHD filter for PCL
radar measurements and compare their performances.