### Some Insightful Aspects in Underwater Bearings-Only Tracking

#### Abstract

In bearings-only under water target tracking, observer has to carry out one or more maneuvers to estimate target motion parameters. In general, two dimensional bearings-only tracking is used for underwater applications. The basic assumptions are that the submarine motion is unrestricted and the target (another submarine or ship) moves at constant velocity. The target and observer are assumed to be in the same horizontal plane. In passive target tracking, a single observer monitors a sequence of target bearing measurements, which are assumed to be available at equi-spaced discrete time intervals. The bearing measurements are corrupted with white Gaussian noise and this noise is assumed to be less when compared to the actual value of the bearing. The observer can search for the target within some specified look angle (and not total 360 deg) to avoid its own self noise zone hence traditional S-maneuver is not preferable always. In this research work, a procedure is tried out to understand the scenario online and recommend the maneuver accordingly.

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