Inequality constrained Kalman filter for Bearing-Only Target Motion Analysis

The Bearing-Only Target Motion Analysis (BOTMA) problem is to estimate the position and velocity of a target using bearing measurements. In this paper, we assume that the observer can access the inequality constraints imposed on target´s speed, range, or target´s course. For example, one constraint on a target´s range is that it is upper bounded by the maximum sensing range of the observer. We introduce an inequality constrained TMA, which is to derive target states satisfying the constraints. We verify the effectiveness of our inequality constrained TMA using MATLAB simulations.