Abstract: According to the performance of the classical bearings-only localization algorithm being limited to the direction finding precision, this paper proposes a multi-sensor joint bearings-only localization method based on particle filtering. Firstly, the theoretical error of joint bearings-only localization is derived, and the weighted average method is proposed to process the coarse localization results, in order to obtain the prior distribution of particles. Secondly, data fusion of the direction finding is introduced based on particle filtering, the results are used to find the position of the transmitter, and then the localization error of the algorithm is assessed. Theoretic deduction and numerical simulation results verify that the proposed algorithm could dramatically decrease localization error and improve the accuracy, and is superior to other algorithms.