and decision system or a component thereof which perform like exercise of human intelligence or smart human intellect the convention used in this description in handling terms representing vector quantities is as follows the types of mathematical manipulations represented by equations set forth in the description are of families of mathematical manipulation which readers having skill in the art are familiar with these readers will readily recognize which terms represent vector quantities from the equation 39 s content therefore no special form of notation e g a bar over the term or bold font is used to indicate which terms are vector quantities a standard mathematical approach is utilized to decouple the observable and unobservable components of the state estimate this can be done for bearing only tma through the use of range normalized coordinates defined by the modified polar mp coordinate system the mp state vector is defined as x mp u2061 t u03b2 u03b2 r r 1 r u2062 1 r inverse u2062 u2062 range 1 the modified polar coordinate system has the desirable property of decoupling relative motion estimation from range estimation when bearings only data is processed prior to an ownship maneuver while ownship motion is generally unrestricted a constant velocity target kinematics assumption is employed to propagate contact state over time detail into the modeling specifics is provided below the equations of state provided below are nonlinear and provide the mapping necessary to propagate a modified polar state vector defined at time t 0 to time t 1 and following a derivation beyond the scope of a description of the present invention are expressed as a function of the.