Position and Velocity Estimation via Bearing Observations.
NAVAL UNDERWATER SYSTEMS CENTER NEWPORT R I
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The theory of estimating the position and motion of a radiating source traveling at a constant velocity from a history of bearing measurements is presented. The dynamic process for the single observer case is found to be unobservable when the observer velocity is constant, and estimation of the complete target state requires an observer maneuver. Discrete changes in the observer velocity result in piecewise convergence of the state estimate. The relationship between recursive least-squares estimation and Kalman filtering is detailed for such processes, and an algorithm-including initialization-is presented that exhibits consistent behavior for all target observer geometries examined. Experimental studies are presented. Minimum norm solutions are provided during the initial phase of the problem with convergence to a complete solution following observer maneuvers resulting in the process becoming observable. Although emphasis is given to the case of a single moving observer, the estimation algorithm is capable of processing bearing information from multiple platforms. Author
- Statistics and Probability
- Direction Finding
- Optical Detection and Detectors