t = 300 s

Own-ship, emitter and EKF estimate — North up

Own-ship
Turn at 90 s
Turn angle 90° left
Emitter
RWR bearings
Noise σθ 1.0°
Update rate 0.2 Hz
seed 1
Show

Position error and √tr(P) over the run

End of run (t = 300 s). The animation never changes these.

√tr(P)
—
position 1σ
Error
—
estimate to truth
Ellipse 1σ a × b
—
semi-axes, km
Long axis
—
off line of sight
Exposure
—
inside 40 km ring
Range
—
own-ship to emitter
Own-ship (flown · planned) Emitter (truth) Intel prior Measured bearings EKF estimate + 1σ 2σ ellipse Threat ring Track inside ring