In this paper, we present a pseudolinear estimate for bearings and frequencies target motion analysis. We propose two ways to reduce its inherent bias and evaluate its performance with Monte Carlo simulations, with reference to the Cramér-Rao lower bound.
Range-only target motion analysis (ROTMA) consists of estimating the trajectory of a target using a single platform collecting range-only measurements. Observability analysis is carried out when the target is in constant-velocity motion and the observer maneuvers gently (a constant turn motion or a constant acceleration motion). We compare observability in bearings-only target motion analysis (BOTMA) and ROTMA throughout the paper, together with the rank of the Fisher information matrix. In each case, we establish necessary and sufficient observability conditions and we identify the virtual (or ghost) targets giving the same measurements when the system is not observable.
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