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Abstract:   (533 Views)
In this paper, an optimization problem of the observer trajectory for the bearing-only surface moving target tracking (BOT) is studied. The BOT depends directly on the observability of the target's position in the target/observer geometry or the optimal observer maneuver. To this reason, maximum lower band of the Fisher information matrix is opted as an independent criterion of the target estimator. First, modeling of the optimal control problem of the observer path is presented based on the orthogonal Chebyshev polynomial. Then, a control law for the observer direction, which is independent of initial conditions, is determined using the direct numerical optimization. The advantages of the proposed model includes maximization of the total maneuver time, calculation of the control law at the start time of the maneuver, and high flexibility in applying the tracking constraints of the observer's motion. The efficiency of the proposed approach is compared with the conventional path optimization methods using the Monte Carlo method. In addition, the performance is evaluated in different scenarios for target tarcking, including remote, near, moving, and stationary, and its reliability is investigated. It is also used in the surface submarine tracking problem using sonar.
Type of Article: Research paper | Subject: Special
Received: 2018/01/6 | Accepted: 2018/05/30

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