― The pseudo linear Kalman filter for target tracking concerns the estimation of target motion parameters i.e., range, bearing, course and speed of a moving target, from noisy corrupted data. In the ocean environment. two dimensional bearings-only target motion analysis is generally used. An observer monitors sonar bearings from radiating target in passive listening mode. An observer processes these measurements and finds out target motion parameters like, range, course, bearings and speed of the [...].