Target Motion Analysis Method Based on Conical Angle

Bearing-only target motion analysis(BO-TMA) is a technique for estimating the position and velocity of a target from the target bearing angles, and it plays a significant role in anti-submarine warfare. However, in underwater environments, propagation phenomena such as acoustic refraction and depth differences between the ownship and the target can introduce vertical components into the received signals. The received conical angle comprises the vertical component together with bearing angle. Therefore, received conical angle for conventional TMA algorithms which ignore the vertical components for modeling the received signals may produce large errors. We utilize an acoustic propagation model that provides the received vertical angle that comprises the conical angle. Then TMA algorithm based on a particle filter and an extended Kalman filter are applied for performance comparison.