A method for constructing the observer trajectory in bearings-only tracking of targets with a Markovian model

We propose a method for constructing the observer trajectory in bearings-only tracking. This method is applicable to any target with a Markovian model but in particular, we study it for nearly-constant velocity targets. The proposed method is built upon a family of optimal trajectories obtained for the localization of stationary targets. These trajectories can be parameterized by a parameter known as range-to-baseline ratio. For moving targets, at each moment, the range-to-baseline ratio is computed and the appropriate trajectory is pursued based on this ratio and current estimates of the target bearing and course. We study the behavior of this method by simulation.