Abstract
The optimal maneuver of observer for bearing-only tracking (BOT) in a threat environment is a complex problem which involves nonlinear filtering, threat avoidance, and optimal maneuver strategy. Under comprehensive consideration, the reward function comprised of the lower bound on detFIM and threat cost was established; the finite-horizon MDP principle was applied to obtain the optimal strategy. The quantization method was used to discretize the BOT process and calculate the transition matrix of Markov chain; to achieve quantization in the beginning of each period, CKF was applied to provide the initial state estimate and the corresponding error covariance. The numerical simulations illustrated the applicability and superior performance for static and dynamic target tracking in several scenarios in the threat environment.
Highlights
Bearing-only tracking (BOT) techniques are applied in various scenarios of target location, and the related theoretical and practical problems have been studied for decades [1,2,3]
In [8], the Fisher information matrix (FIM) was used to achieve the optimal leg of the observer, and the EKF algorithm was updated by heuristic evolutionary optimization algorithms to enhance the accuracy of the BOT, while heuristic evolutionary optimization algorithms cannot ensure the efficiency of calculation
It is important to note that the reward function is the key to solve the problem with BOT and threat avoidance, namely, it consists of two parts, one of which describes the profits of bearing information from target, and the other is the cost of threat avoidance
Summary
Bearing-only tracking (BOT) techniques are applied in various scenarios of target location, and the related theoretical and practical problems have been studied for decades [1,2,3]. The observer’s (aircraft, UAV, car, warship, submarine, etc.) maneuvering trajectories may be constrained by some threats (such as missile, torpedo, no fly zone, and air defense radar), and the optimal observer’s trajectories for BOT could fail to satisfy those constraints; in result, the observer’s maneuver need to ensure the achievement of bearing information but to ensure the safety of the observer itself. This problem concerns the balance between accuracy of target tracking and threat avoidance.
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