Optimal Sensor Trajectories in Bearings-Only Tracking

  title={Optimal Sensor Trajectories in Bearings-Only Tracking},
  author={M. L. Hernandez},
We consider the problem of determining sensor trajectories in the bearings-only tracking of an uncertain target. This work differs from previous research in that we allow the target dynamics to be both uncertain and random; and also consider multi-sensor scenarios. The basis of our technique is to control a measure of estimation error based on the Posterior Cramér-Rao lower bound (PCRLB), and we present both single-step and multi-step planning approaches. We also introduce an efficient search… CONTINUE READING
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