\begin{tikzpicture}           
% Grid
\draw [rounded corners,menublue,fill=gray99, ultra thin]
(0,12.5) -- (0,0) -- (22,0) -- (22,25) -- (0,25) -- (0,12.5);
\draw [color=gray95, thin] (11,0) -- (11,25);
\draw [color=gray95, thin] (12.375,0) -- (12.375,25);
\draw [color=gray95, thin] (13.75,0) -- (13.75,25);
\draw [color=gray95, thin] (15.125,0) -- (15.125,25);
\draw [color=gray95, thin] (16.5,0) -- (16.5,25);
\draw [color=gray95, thin] (17.875,0) -- (17.875,25);
\draw [color=gray95, thin] (19.25,0) -- (19.25,25);
\draw [color=gray95, thin] (20.625,0) -- (20.625,25);
\draw [color=gray95, thin] (9.625,0) -- (9.625,25);
\draw [color=gray95, thin] (8.25,0) -- (8.25,25);
\draw [color=gray95, thin] (6.875,0) -- (6.875,25);
\draw [color=gray95, thin] (5.5,0) -- (5.5,25);
\draw [color=gray95, thin] (4.125,0) -- (4.125,25);
\draw [color=gray95, thin] (2.75,0) -- (2.75,25);
\draw [color=gray95, thin] (1.375,0) -- (1.375,25);
\draw [color=gray95, thin] (0,12.5) -- (22,12.5);
\draw [color=gray95, thin] (0,13.875) -- (22,13.875);
\draw [color=gray95, thin] (0,15.25) -- (22,15.25);
\draw [color=gray95, thin] (0,16.625) -- (22,16.625);
\draw [color=gray95, thin] (0,18) -- (22,18);
\draw [color=gray95, thin] (0,19.375) -- (22,19.375);
\draw [color=gray95, thin] (0,20.75) -- (22,20.75);
\draw [color=gray95, thin] (0,22.125) -- (22,22.125);
\draw [color=gray95, thin] (0,23.5) -- (22,23.5);
\draw [color=gray95, thin] (0,24.875) -- (22,24.875);
\draw [color=gray95, thin] (0,11.125) -- (22,11.125);
\draw [color=gray95, thin] (0,9.75) -- (22,9.75);
\draw [color=gray95, thin] (0,8.375) -- (22,8.375);
\draw [color=gray95, thin] (0,7) -- (22,7);
\draw [color=gray95, thin] (0,5.625) -- (22,5.625);
\draw [color=gray95, thin] (0,4.25) -- (22,4.25);
\draw [color=gray95, thin] (0,2.875) -- (22,2.875);
\draw [color=gray95, thin] (0,1.5) -- (22,1.5);
\draw [color=gray95, thin] (0,0.125) -- (22,0.125);
% Grid
\draw [rounded corners,menublue, ultra thin]
(0,12.5) -- (0,0) -- (22,0) -- (22,25) -- (0,25) -- (0,12.5);

% Draw Circle: ownship:range
\draw [color=dodgerblue, thin] 
(5.5,13.05) circle (2.75cm);
% Draw Circle: contact:range
\draw [color=dodgerblue, thin] 
(16.5,13.05) circle (2.75cm);

% Draw Wedge: ownship:twedge
\draw [color=black, very thin] 
(6.86118,11.6888) -- (6.86118,11.6888) arc (315:450:1.925) -- (5.5,14.975) arc (450:315:1.925) -- cycle;
% Text Label
\draw [color=black] (5.5,9.2) node {\footnotesize
ownship
};

% Text Label
\draw [color=black] (16.5,9.2) node {\footnotesize
contact
};

% Text Label
\draw [color=black] (19.25,13.05) node {\small
{$x_{cn}$, $y_{cn}$}
};

% Ship drawing: inside triangle
\draw [color=gray90, fill=gray90, ultra thin] 
(5.07502,13.7917) -- (6.08336,12.4666) -- (4.75825,13.475);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(5.07502,13.7917) .. controls (5.93752,13.1958) .. (6.08336,12.4666);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(4.75825,13.475) .. controls (5.35416,12.6125) .. (6.08336,12.4666);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(5.07502,13.7917) -- (4.75825,13.475);
% Ship drawing: inside triangle
\draw [color=gray90, fill=gray90, ultra thin] 
(16.075,13.7917) -- (17.0834,12.4666) -- (15.7583,13.475);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(16.075,13.7917) .. controls (16.9375,13.1958) .. (17.0834,12.4666);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(15.7583,13.475) .. controls (16.3542,12.6125) .. (17.0834,12.4666);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(16.075,13.7917) -- (15.7583,13.475);
% Draw Point: ownship:ship_ctr
\draw [color=black,fill=black, thin] 
(5.5,13.05) circle (0.05cm);
% Draw Point: contact:ship_ctr
\draw [color=black,fill=black, thin] 
(16.5,13.05) circle (0.05cm);
% Draw Line: ownship:pointer_line
\draw [color=gray25, dashed, ->, thin] 
(5.5,13.05) -- (7.15,13.05);
% Draw Line: contact:pointer_line
\draw [color=gray25, dashed, ->, thin] 
(16.5,13.05) -- (18.15,13.05);
\end{tikzpicture}  
