Aiming at target tracking of the constant acceleration movement in the water

the observed bearings of two sonar arrays as well as the observed target frequency of one array are combined to carry out the observed fuse

the constant acceleration target tracking system based on bearings-frequency of two sonar arrays as well as the state equation of constant acceleration movement is established.For the nonlinear character of the system

nonlinear filtering algorithm for is applied to estimate the state of constant acceleration target based on the observed values

and then an algorithm for constant acceleration target tracking based on bearing-frequency of two sonar arrays is put forward.After the pseudo linear processing is applied on the observable equation of tracking system

the observed condition of judging for linear system is applied to this tracking system;the observed condition of judging for this system can be obtained.After adding the observed frequency

the observability is improved.The validities of this algorithm as well as the observed condition of judging are verified by simulations.