For tracking underwater moving targets in real time. a bearings-only tracking system with a stationary double observation station was investigated. By combining the extended Kalman filter(EKF) algorithm and the unscented Kalman filter(UKF) algorithm. the bearings-only tracking system based on the EKF and UKF algorithms was simulated and compared. https://www.roneverhart.com/Tiny-Chicle-Squares-Chewing-Gum-Pink-1-5LB-Jar/