Observer Route Planning Algorithm in Pseudo-Target Dynamic Feasible Region Constraint Method

In the pseudo-target dynamic feasible region constraint method, which aims at locating the target using single observer in NLOS environment, the area of the target feasible region has direct effect on the speed and accuracy of the location algorithm. An optimal path planning algorithm of the observer is proposed in this paper, which is based on the dynamic programming. Based on the data measured at the current stage, the optimal moving direction of the observer at the next stage is calculated aiming at the maximum area of the target feasible region convergence. The optimized maneuvering path calculated by the proposed algorithm can improve the location precision and reduce the location time.