Comparação de Modelos Baseados em Filtro de Kalman Aplicados em Bearing-Only Tracking

This work analyzes the use of Kalman Filters to solve the Bearing-Only Tracking problem, aiming to support the implementation in a real combat management system. Eight models are evaluated, 6 of which were developed specifically for the problem, and they were applied to 15 scenarios, combining 5 initialization forms with 3 distinct ship movements. The analysis of results considers error and credibility of the prediction, and the rates of stability and convergence. Three solutions stood out, as well as one initialization method that ensured greater robustness to the models.