جستجوی مقالات مرتبط با کلیدواژه « target observability » در نشریات گروه « برق »

 In this paper, an algorithm for bearings-only target tracking (BOT) problem is proposed using the resetting of the covariance matrix of the filter . Poor observability in BOT problem often leads to a bias error or even divergence of the filter. Therefore, due to non-uniqueness of the problem, the covariance value of the filter is not a sufficient condition to indicate the estimation error. In this paper, it is shown that the mutual effects between the covariance of the target range estimation and the Cramer-Rao lower error bound is similar to the stability of a Lyapunov function for detecting the divergence of the recursive filter. Then, this function is used as a correction coefficient of the estimating covariance matching. The multi-model/particle filters are also adopted for estimating the initial range of the target and calculating the Cramer-Rao lower error bound. Using the Monte Carlo simulation method, the proposed algorithm is compared with other conventional filters based on the criteria reported in the literature. Improvement of the results of the target range estimation is also shown, especially in case of observability reduction. All studies conducted in this paper are limited to the problem of surface floats tracking with passive sonar for a typical submarine.

In this paper, an optimization problem for the observer trajectory in the bearings-only surface moving target tracking (BOT) is studied. The BOT depends directly on the observability of the target's position in the target/observer geometry or the optimal observer maneuver. Therefore, the maximum lower band of the Fisher information matrix is opted as an independent criterion of the target estimator. First, modeling of the optimal control problem of the observer path is presented based on the orthogonal Chebyshev polynomial. Then, a control law for the observer direction, which is independent of the initial conditions, is obtained using the direct numerical optimization. The advantages of the proposed model include maximization of the total maneuver time, calculation of the control law at the start time of the maneuver, and high flexibility in applying the tracking constraints of the observer's motion. The efficiency of the proposed algorithm is compared with the conventional path optimization methods using the Monte Carlo. In addition, the performance of the algorithm is evaluated in different scenarios for target tracking, including remote, near, moving, and stationary, and its reliability is investigated. It is also applied in the surface submarine tracking problem using sonar.