Observer path design by imitation of competing constraints for bearing only tracking

Observer Path Design for Bearings-Only Localization with State Constraints

“…However, some restrictions, such as measurement times and terminal states of observer and so on, are assured in the above methods. On the other hand, the observer path is usually restricted to its own motion behaviors [6,7]. For example, an airborne platform in flight can not change the direction of movement sharply.…”