Bayesian-based Projectile Angle Parameter Estimation, CRLB and Analysis

In this article, the authors consider the problem of estimating projectile angle using two different criteria, namely, maximum likelihood (ML) estimation and minimum mean square error (MMSE) estimation. The authors develop a simple estimation approach for very small projectile angles for the latter technique, MMSE estimation criteria. The projectile angle is present in the simple horizontal range equation implicitly. The authors circumvent this using the approximation for small projectile angles. In addition to insightful mathematical analysis, including CRLB, the authors present useful performance plots for CRLB and MMSE.