Algorithm for detection of manoeuvring targets in bearings-only passive target tracking

The feasibility of a modified gain extended Kalman filter using bearings-only measurements is explored for underwater applications. A much simpler version of the modified function is considered for the development of this algorithm. This algorithm estimates target motion parameters and detects target manoeuvres, using zero mean chi-square distributed random sequence residuals, in a sliding window format. The detection of target manoeuvres, in particular in highly nonlinear (high bearing-rate) scenarios, is explored. The performance of this algorithm is evaluated in Monte Carlo simulations, and results are shown for various typical geometries