**Abbreviations**

The following abbreviations are used in this manuscript:



## **Appendix A**

In this appendix we provide the analytical expression of the partial derivatives of the function *h*(*ψ*, *k*) with respect to the target's motion parameters. For the sake of readability let us define

$$\begin{aligned} \Delta\_x(k) &= \mathbf{x}\_l(k) - \mathbf{x}(k), \\ \Delta\_y(k) &= y\_l(k) - y(k). \end{aligned} \tag{A1}$$

The partial derivatives of *h*(*ψ*, *k*) with respect to the target's motion parameters are as follows

$$\begin{aligned} \frac{\partial h(\boldsymbol{\Psi},k)}{\partial \mathbf{x}\_{i0}} &= -\frac{\Delta\_{\boldsymbol{y}}(k)}{\Delta\_{\boldsymbol{x}}(k)^2 + \Delta\_{\boldsymbol{y}}(k)^2} \\\\ \frac{\partial h(\boldsymbol{\Psi},k)}{\partial \boldsymbol{y}\_{i0}} &= \frac{\Delta\_{\boldsymbol{x}}(k)}{\Delta\_{\boldsymbol{x}}(k)^2 + \Delta\_{\boldsymbol{y}}(k)^2} \\\\ \frac{\partial h(\boldsymbol{\Psi},k)}{\partial \dot{\boldsymbol{x}}\_{i0}} &= -kT \frac{\Delta\_{\boldsymbol{y}}(k)}{\Delta\_{\boldsymbol{x}}(k)^2 + \Delta\_{\boldsymbol{y}}(k)^2} \\\\ \frac{\partial h(\boldsymbol{\Psi},k)}{\partial \dot{\boldsymbol{y}}\_{i0}} &= kT \frac{\Delta\_{\boldsymbol{x}}(k)}{\Delta\_{\boldsymbol{x}}(k)^2 + \Delta\_{\boldsymbol{y}}(k)^2} \\\\ \frac{\partial h(\boldsymbol{\Psi},k)}{\partial \dot{\boldsymbol{x}}\_{i0}} &= -\frac{1}{2}k^2 T^2 \frac{\Delta\_{\boldsymbol{y}}(k)}{\Delta\_{\boldsymbol{x}}(k)^2 + \Delta\_{\boldsymbol{y}}(k)^2} \end{aligned} \tag{A2}$$
 
$$\frac{\partial h(\boldsymbol{\Psi},k)}{\partial \dot{\boldsymbol{y}}\_{i0}} = \frac{1}{2}k^2 T^2 \frac{\Delta\_{\boldsymbol{x}}(k)}{\Delta\_{\boldsymbol{x}}(k)^2 + \Delta\_{\boldsymbol{y}}(k)^2}.$$
