TY - GEN
T1 - Trajectory optimization for minimum range error in bearings-only source localization
AU - Helferty, James P.
AU - Mudgett, David R.
AU - Dzielski, John E.
PY - 1993
Y1 - 1993
N2 - This paper compares two performance indices for computing optimal observer paths for the bearings-only source localization problem, for constant velocity sources. Previous work on this problem is based on maximizing the determinant of the Fisher information matrix (FIM) of the estimation problem. This paper considers minimizing the trace of a weighted sum of the Cramer-Rao lower bound (CRLB) of current source position error. Quasi-Newton optimization is used to compare optimal observer paths, given the goal of minimizing current position error. Significant differences in optimal paths are observed, and the CRLB trace is found to yield smaller range error.
AB - This paper compares two performance indices for computing optimal observer paths for the bearings-only source localization problem, for constant velocity sources. Previous work on this problem is based on maximizing the determinant of the Fisher information matrix (FIM) of the estimation problem. This paper considers minimizing the trace of a weighted sum of the Cramer-Rao lower bound (CRLB) of current source position error. Quasi-Newton optimization is used to compare optimal observer paths, given the goal of minimizing current position error. Significant differences in optimal paths are observed, and the CRLB trace is found to yield smaller range error.
UR - http://www.scopus.com/inward/record.url?scp=0027839901&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:0027839901
SN - 0780313860
T3 - Proceedings of the Conference on Oceans '93
SP - 229
EP - 234
BT - Proceedings of the Conference on Oceans '93
A2 - Anon, null
T2 - Proceedings of the Conference on Oceans '93
Y2 - 18 October 1993 through 21 October 1993
ER -