Estimating the trajectory of the source after detection of its manoeuvre
Passive trajectory tracking based on angles and other measurements

We'll start by introducing the notion of TPP, which is the estimate that can be made in unobservable cases. This notion is also necessary to analyze the problem of estimating the trajectory of the source after the detection of its maneuver. In what follows, we assume that the two mobiles are not on a collision course, i.e. that the azimuth varies with time.

Let's recall the notations and the TPA measurement equation (cf. § 1.3 of