Target motion analysis method using bearing and radial velocity in shallow water

A target motion analysis method using bearing and radial velocity in shallow water is proposed. This method overcomes the limitation that the observer must be maneuverable. First, two different radial velocity estimation methods for broadband and narrowband target are studied. Then, based on the measurement parameters of bearing and radial velocity fusion, a extended Kalman filter is obtained in Cartesian coordinates. Simulation results show that the proposed method can fastly and accurately track a broadband or narrowband moving target by a single observer in low signal-to-noise ratio environment when the observer is nonmaneuverable. The effectiveness of the method is verified by using the experimental data. The estimated result is close to the real value and the mean relative error of target range tracking is within 10%.