Passive bearings-only target motion analysis based on association of multiple arrays

1 IntroductionAs an important technique in underwater target motion analysis (TMA), passive BearingsOnly abacking (BOT) has been studied deeply and used in practice to a certain degree['--9].The problem solved by BOT is how to estimate the kinematic parameters of an object (i.e.,position, course and velocity) using the bearing (azimuth) measurements from a passive sonarsand the main research area of BOT is the trajectory estimation of a target assumed travellingat a constant velocity in a…