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

. 2023 Jul 14;23(14):6408. doi: 10.3390/s23146408

Algorithm 2 Sensor motion coordination for target tracking.

Input:
The estimate of the target at time k, ${\hat{x}}_{k | k}$ ;
The location of the sensor at time k, $s_{i} (k)$ ;
Output:
The estimate of the target at time $k + 1$ , ${\hat{x}}_{k + 1 | k + 1}$ ;
The location of the sensor at time $k + 1$ , $s_{i} (k + 1)$ ;
1:
Receive ${\hat{x}}_{k + 1 | k}$ from the estimation center;
2:
Compute $u_{i} (k)$ with (28), (31), (33) and (34);
3:
Move to a new position $s_{i} (k + 1)$ ;
4:
Take new measurements of the target $z_{k + 1}$ , and estimate the state of the target via CKF;
5:
return ${\hat{x}}_{k + 1 | k + 1}$ , $s_{i} (k + 1)$ .