In a previous paper [7], the problem of bearings-only tracking of targets whose trajectory is composed of two legs from a non-maneuvering observer was addressed and the maximum likelihood estimate (MLE) proposed. We named it bearings-only maneuvering target motion analysis (BOMTMA). Recently in [9], we proposed another estimate based on leg-by-leg tracking and compare its performance to the MLE. We give here the extended version of [9], together with some comparison between the conventional bearings-only target motion analysis (BOTMA) and the BOMTMA.