Bearings-only TMA without observer maneuver

This paper addresses the problem of bearings-only target motion analysis) of a maneuvering source, whose trajectory is composed by two legs at constant velocity. Under very large assumptions, the target trajectory is proved observable from a non-maneuvering platform. Two cases are considered: first, the time of the target maneuver (t_M) is perfectly known. Secondly, t_M is unknown. In both cases, a batch estimator is proposed and its performance is compared with the classic cramer-rao lower bound (CRLB). Monte-Carlo simulations reveal the efficiency of the estimator.