Optimal observer motion for localization with bearing measurements. (English) Zbl 0684.93055
Summary: System observability in nonlinear estimation problems is a significant factor governing solution behavior. This paper addresses the effects of observer motion on estimation accuracy for bearings-only localization. The role of the observer is to create a target/observer geometry that maximizes system observability, thereby minimizing the region of uncertainty.
Two approaches are presented for deriving optimal observer paths. The first approach generates optimal observer motion numerically via the determinant of the Fisher information matrix, while the second involves the application of control theory to an alternative criterion. In addition, optimal fixed aspect angles are similarly determined for deviated pursuit curves.
The error ellipses associated with the trajectories are compared and analyzed. It is shown that observer motion involves a trade-off between increasing bearing-rate and decreasing range. Particular characteristics of an observer path and its effect on estimation accuracy depend on the scenario initially encountered.
Two approaches are presented for deriving optimal observer paths. The first approach generates optimal observer motion numerically via the determinant of the Fisher information matrix, while the second involves the application of control theory to an alternative criterion. In addition, optimal fixed aspect angles are similarly determined for deviated pursuit curves.
The error ellipses associated with the trajectories are compared and analyzed. It is shown that observer motion involves a trade-off between increasing bearing-rate and decreasing range. Particular characteristics of an observer path and its effect on estimation accuracy depend on the scenario initially encountered.
MSC:
| 93C95 | Application models in control theory |
| 93B07 | Observability |
| 93C10 | Nonlinear systems in control theory |
Keywords:
nonlinear estimation; observer motion; bearings-only localization; optimal observer paths; Fisher information matrix; error ellipsesReferences:
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