On target manoeuvres in bearings only tracking (sonar)

Manoeuver detection is an essential part of target motion analysis (TMA) but represents a departure from the basic assumptions on which standard TMA algorithms are built. The target is assumed at a random instant to switch between two linear motions by changing its course. The proposed manoeuver handling algorithm detects the change, estimates the time of change, and recomputes the target motion estimates up to the detection time.<<ETX>>