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Optimal Geometry and Motion Coordination for Multisensor Target Tracking with Bearings-Only Measurements.

Shen Wang1, Yinya Li1, Guoqing Qi1

  • 1School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China.

Sensors (Basel, Switzerland)
|July 29, 2023
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Summary

This study optimizes mobile sensor geometry and motion for better target tracking. It introduces a method for sensors to form optimal circular formations around a target, enhancing tracking accuracy.

Keywords:
Fisher information matrixbearings-only measurementmotion coordinationoptimal geometry

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Area of Science:

  • Robotics and Control Systems
  • Sensor Networks
  • Estimation Theory

Background:

  • Mobile sensor networks are crucial for target tracking.
  • Bearings-only sensors present unique challenges due to limited measurement types.
  • Optimizing sensor geometry and motion is key to improving tracking performance.

Purpose of the Study:

  • To derive the optimal geometry for multiple mobile bearings-only sensors.
  • To develop a motion coordination strategy for sensors to achieve optimal formations.
  • To enhance target tracking performance through optimal sensor configuration.

Main Methods:

  • Derivation of general optimal sensor-target geometry using D-optimality for n sensors.
  • Development of a motion coordination method to achieve a circular radius orbit (CRO) and circular formation.
  • Optimization of sensor motion under constraints to minimize travel distance.

Main Results:

  • A general optimal sensor-target geometry is established based on partitioning the number of sensors.
  • A method is presented to guide sensors into a CRO and then into optimal geometric subsets.
  • The proposed approach effectively steers sensors to achieve desired formations for improved tracking.

Conclusions:

  • The derived optimal geometry and motion coordination method enhance target tracking performance for bearings-only sensors.
  • The approach is effective in guiding sensors to form optimal circular formations.
  • This work provides a valuable framework for designing coordinated mobile sensor systems.