# Bearings Only Tracking of a Manouvering Target, 'botm_demo'

In this demonstration the linear measurement model on coordinated turn model demonstration is replaced with nonlinear bearings-only measurement model.

The target trajectory is the same as in the coordinated turn model demonstration. The measurement are produced by four sensors, which are shown in the figure 1.

The filtered and smoothed estimates for target's position are shown figure 2. The results are similar to the ones in the coordinated turn model demonstration.

Figure 3 shows the filtered and smoothed estimates of the turning model's probability on each time step. The filtered and smoothed estimates for the turn rate parameter are shown in figure 4. The results are similar to the ones in the coordinate turn model demonstration.

See the documentation for further discussion.

Files used in this example:

F_TURN F_TURN_DX F_TURN_INV CT_DEMO |
Dynamic model function for the coordinated turn model Jacobian of the coordinated turn model's dynamic model Inverse dynamics of the coordinated turn model Coordinated Turn Model demonstration |