TMA from Cosines of Conical Angles Acquired by a Towed Array

This paper deals with the estimation of the trajectory of a target in constant velocity motion at an unknown constant depth, from measurements of conical angles supplied by a linear array. Sound emitted by the target does not necessarily navigate along a direct path toward the antenna, but can bounce off the sea bottom and/or off the surface. Observability is thoroughly analyzed to identify the ghost targets before proposing an efficient way to estimate the trajectory of the target of interest and of the ghost targets when they exist.