Optimal Active Target Localisation Strategy with Range-only Measurements

Abstract

This paper investigates the problem of one-step ahead optimal active sensing strategy to minimise estimation errors with range-only measurements for non-manoeuvring target. The determinant of Fisher Information Matrix (FIM) is utilized as the objective function in the proposed optimisation problem since it quantifies the volume of uncertainty ellipsoid of any efficient estimator. In consideration of physical velocity and turning rate constraints, the optimal heading angle command that maximises the cost function is derived analytically. Simulations are conducted to validate the analytical findings.

Active Localization of Multiple Targets from Noisy Relative Measurements

“…This problem has been addressed in two recent papers for bearing [28] and range-only [29] measurement models, where they study the optimal one-step action for the sensor so as to maximize the information about the target estimate. The cost function they provide for one-step maximization has the form: J φ = sin(φ(p t−1 , q) − φ(p t , q)) 2 /d(p t , q) 2 , which is used to select the best action to move the sensor from position p t−1 to p t when using bearing measurements.…”

A Stochastic Characterization of the Capture Zone in Pursuit-Evasion Games

“…A common solution for simplifying the architectures and reducing the weights and costs of autonomous vehicles is to adopt a single instrument (bearing or range sensor) for target tracking or navigation [7,8]. This work focuses on a missile application, but the results can be easily extended to other scenarios and to different sets of measurements.…”