Optimal Active Target Localisation Strategy with Range-only Measurements

Shaoming He, Hyo-Sang Shin, Antonios Tsourdos

Abstract

This paper investigates the problem of one-step ahead optimal active sensing strategy to minimise estimation errors with range-only measurements for non-manoeuvring target. The determinant of Fisher Information Matrix (FIM) is utilized as the objective function in the proposed optimisation problem since it quantifies the volume of uncertainty ellipsoid of any efficient estimator. In consideration of physical velocity and turning rate constraints, the optimal heading angle command that maximises the cost function is derived analytically. Simulations are conducted to validate the analytical findings.

Download


Paper Citation


in Harvard Style

He S., Shin H. and Tsourdos A. (2019). Optimal Active Target Localisation Strategy with Range-only Measurements.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-380-3, pages 91-99. DOI: 10.5220/0007928400910099


in Bibtex Style

@conference{icinco19,
author={Shaoming He and Hyo-Sang Shin and Antonios Tsourdos},
title={Optimal Active Target Localisation Strategy with Range-only Measurements},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2019},
pages={91-99},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007928400910099},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Optimal Active Target Localisation Strategy with Range-only Measurements
SN - 978-989-758-380-3
AU - He S.
AU - Shin H.
AU - Tsourdos A.
PY - 2019
SP - 91
EP - 99
DO - 10.5220/0007928400910099