Quasi-stationary single station bearing-only target motion analysis algorithm

The bearings-only Target Motion Analysis（TMA） is of great significance to situation assessment in concealed state.Aiming at the problem of detecting maritime targets by slow-moving single-station platforms,a bearings-only target motion analysis algorithm is constructed based on the bearing-time recordings of a moving target.Under the conditions of quasi-stationary detection platform,unchanging target motion state and only one single target in the detectable area,the algorithm can accurately fit the target’s Direction-of-Arrival（DOA） curve through the motion model,and effectively calculate the ratio of the target speed to initial distance,the target heading,abeam time,abeam DOA and so on.A test was carried out at a certain area of the South China Sea in May 2020,and the algorithm is verified by the test data collected from single vector hydrophones which are integrated in 3 low-speed Unmanned Underwater Vehicles（UUV）.The Root Mean Square Error（RMSE） of the target speed to initial distance ratio between the calculation results and the reference values is less than 1 h^-1.the RMSE of the target heading is 6.6° and the RMSE of abeam time is 77.4 s.The results show that the algorithm is effective.