Bearings-only TMA from electromagnetic and acoustic waves

This paper presents a novel BOTMA based upon two types of bearing measurements: the angles of arrival of electromagnetic waves and the angles of arrival of acoustic waves. The difference of the propagation delays makes the problem observable even when the observer is motionless or non-maneuvering. We construct a recursive estimator (using the extended Kalman filter) and a batch estimator (the maximum likelihood estimator) whose respective performances are evaluated by Monte-Carlo simulations, and compared to the Cramér-Rao lower bound.