Steimel, UlrichHerzog, OttheinRödiger, Karl-HeinzRonthaler, MarcKoschke, Rainer2019-05-152019-05-152007978-3-88579-206-1https://dl.gi.de/handle/20.500.12116/22461A Bearing-Only TMA running on a submarine, which can exploit the crossbearing effect from sensors installed at different locations needs no own manouevre for convergence, if the parallax between the involved bearings exceeds a certain value. In this paper we discuss some results for the cases where data from a Towed Array is fused with data from an on-board sensor or the data of 2 on-board sensors are available. Finally, we decribe a procedure for an automatic adjustment of the filter length of the non-recursive TMA filter by means of which it becomes even possible to handle targets which are not moving on a straight line.enText/Conference Paper1617-5468