Range, Bearing, Course, Doppler and speed of a moving target are parameters that define a target motion. The present work concerns the estimation of Target Motion parameters (TMP) in a noisy environment from data obtained through sensor. The sensor gives the Frequency and Bearing measurements of the target.

Doppler Bearing passive target tracking is the determination of the trajectory of a target solely from measurements (both bearing and Doppler) of signals originating from the target. In the underwater scenario, the passive SONAR, which utilizes a number of hydrophones, is capable of sensing the sound waves in water. These sensors get the frequency and bearing information of the underwater target or the surface target as noise corrupted data (acoustic disturbances generated by underwater bodies).

The objective of this paper is to predict the current target position in terms of Range, Bearing, Course, Speed and frequency. This prediction is done by analyzing the data obtained from first contact instance with the target. PASSIVE SONAR sensors are used to obtain the data.

Key words: TMA, Doppler Bearing, kalman filter, EKF, underwater tracking, passive sonar.