Position and Velocity Estimation Via Bearing Observations

The problem of performing target motion analysis using noisy bearing measurements derived from multiple observation platforms or from a single moving observer is addressed. For the latter case, the properties of an estimator based on a Cartesian model of the process are detailed. Methods of providing estimates both before an observer maneuver, when the process is unobservable, and following an observer maneuver are developed. The results of an experimental study are presented.