Trajectory Optimization for Target Localization and Sensor Bias Calibration with Bearing-Only Information

作     者：Xiwen Yang Shaoming He Hyo-Sang Shin Antonios Tsourdos 

作者机构：School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081P.R.China Yangtze River Delta Graduate School of Beijing Institute of TechnologyJiaxing 314019P.R.China School of AerospaceTransport and ManufacturingCranfield UniversityCranfield MK430ALUK 

出 版 物：《Guidance, Navigation and Control》 (制导、导航与控制（英文）)

年 卷 期：2022年第2卷第3期

页      面：11-29页

学科分类：08[工学] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术] 

主　　题：Bearing-only measurement target localization bias estimation trajectory optimization 

摘      要：The problem of trajectory optimization of an unmanned aerial vehicle(UAV)for static target localization with biased bearing measurements is *** angular bias in sensor measurements is modeled as an additive constant in the observation model and jointly estimated with the position of the *** necessary conditions for system observability of this estimation problem is first derived analytically with geometrical interpretations *** trajectory of UAV is designed based on the Fisher Information Matrix(FIM)considering physical constraints to enhance the system *** results with Monte-Carlo runs are presented to demonstrate the improvement in target localization with biased measurements by UAV trajectory optimization.