Observer Path Design for Bearings-Only Localization with State Constraints

Abstract

In bearings-only target localization, observer path have an important effect on the accuracy of target localization. Based on the analysis of Fisher information matrix, an optimal approach to designing observer path is proposed. Observer path derived from the step-by-step optimal algorithm only depends on observer's initial states and state constraints. The optimal path resulted with step-by-step algorithm is demonstrated by computer simulation. Compared with traditional methods, our algorithm is not limited to the number of observations as well as terminating conditions.

An Engineering Approach for Observer Trajectory Optimization in Passive Target Tracking System

“…An observer path design method for bearings-only localization with state constraints is proposed. The observer path derived from the step-by-step optimal algorithm only depends on observer's initial states and state constraints, where the algorithm is not limited to the number of observations as well as terminating conditions [6]. In [7], the optimal control theory is applied to the determination of the course of a constant speed observer that minimizes an accuracy criterion deduced from the FIM, and the optimal maneuver of the observer is obtained, partly by analytical way and partly by an iterative numerical procedure.…”