Optimal Maneuver Strategy of Observer for Bearing-Only Tracking in Threat Environment

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.

3D path planner of an autonomous underwater vehicle to track an emitter using frequency and azimuth–elevation angle measurements

“…Considering this 2D BOTMA problem, there are many papers on control of an autonomous vehicle to enhance the emitter estimation [21–24]. In developing an autonomous vehicle's tracking controllers based on 2D BOTMA, He et al [24] utilised the location constraints presenting the threat environment.…”

“…Considering this 2D BOTMA problem, there are many papers on control of an autonomous vehicle to enhance the emitter estimation [21–24]. In developing an autonomous vehicle's tracking controllers based on 2D BOTMA, He et al [24] utilised the location constraints presenting the threat environment. Furthermore, multiple 2D sensor nodes, which measure the emitter's bearings, were controlled to conjecture the emitter's position effectively [25–27].…”

Observer manoeuvre control to track multiple targets considering Doppler‐bearing measurements in threat environments

“…This problem is called the bearings-only target motion analysis (BOTMA). Considering this BOTMA problem, many papers developed observer manoeuvre controls to increase the estimation accuracy [10][11][12][13][14][15][16].…”

“…In developing observer manoeuvre controls based on BOTMA, He et al [16] used location constraints, which come from hostility functions describing the threat environments. Moreover, multiple sensors, which measure bearings of a target, were utilised to estimate the target information effectively [17][18][19][20].…”