Optimal observer maneuver for bearings-only tracking

Author

Passerieux, J.M. ; Van Cappel, D.

Author_Institution

Thomson Marconi Sonar S.A.S., Sophia-Antipolis, France

Volume

34

Issue

3

fYear

1998

fDate

7/1/1998 12:00:00 AM

Firstpage

777

Lastpage

788

Abstract

In bearings-only tracking, observer maneuver is critical to ensure observability and to obtain an accurate target localization. Here, optimal control theory is applied to the determination of the course of a constant speed observer that minimizes an accuracy criterion deduced from the Fisher information matrix (FIM). Necessary conditions for optimal maneuver (Euler equations) are established and resolved, partly by analytical means and partly by an iterative numerical procedure. Examples of optimal observer maneuvers are presented and discussed

Keywords

covariance matrices; direction-of-arrival estimation; iterative methods; maximum likelihood estimation; observability; observers; suboptimal control; target tracking; Euler equations; Fisher information matrix; accuracy criteria; accurate target localization; bearings-only tracking; constant speed observer; convergence; covariance matrix; iterative numerical procedure; maximum likelihood estimator; observability; optimal control theory; optimal observer maneuver; suboptimal strategies; target state vector; target tracking; Aerodynamics; Leg; Observability; Optimal control; Position measurement; Sonar measurements; Sonar navigation; Target tracking; Trajectory; Velocity measurement;

fLanguage

English

Journal_Title

Aerospace and Electronic Systems, IEEE Transactions on

Publisher

ieee

ISSN

0018-9251

Type

jour

DOI

10.1109/7.705885

Filename

705885