This paper discusses about the estimation of war-ship's motion when shooting a missile to reach a moving target. We use Extended Kalman Filter-Unknown Input-Without Direct Feedthrough (EKF-UI-WDF). The proposed method is an extension of Extended Kalman Filter (EKF) and the method is able to simultaneously estimate the states and unknown input. Unknown input is any inputs without prior information from a given state of a model. In this work, the ship is Corvette Sigma and the target acceleration is defined as the unknown input. In this work, the missile acceleration use APN guidance law. According to the numerical results, the estimation errors are very small, i.e. less than 10~(-5).
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