Method of passive determination of target data

at a method for passively determining target data by directionally selective reception of sound waves which are emitted or transmitted from the target, are estimated from Bearing angles, from an estimated Positions of the target are determined, and the measured bearing angles Peilwinkeldifferenzen between measured and estimated bearing angles iteratively minimized. to shorten the iteration are limits on the distance and / or the predetermined rate and / or the speed of the target and on a Peilstrahl under a measured bearing angle from the limits Constraints for Position components and velocity components for estimating the determined position of the target, the direction angle to minimize the be used (Fig. 2).