一般仅方位目标跟踪系统可观测的必要条件

Necessary Observable Conditions for General Bearings-Only Target Tracking Systems

对一般的仅方位目标跟踪系统的可观测性进行了分析。这里"一般"的含义是指目标的运动假设突破了以往匀速直线运动的限制,扩展为更为一般的各种复杂运动。得出了这种条件下系统可观测的必要条件。在目标作匀速直线运动的假设下,仅方位目标跟踪的一个熟知结论是:系统可观测的必要条件是观测者必须机动。将这一结论推广到任意的目标运动条件,指出:在二维仅方位目标跟踪系统中,系统可观测的必要条件是观测者作比目标更为复杂的运动,并且独立方位数等于待定参数数。这一结论不仅有助于仅方位目标跟踪系统本质的认识,对于诸如跟踪算法开发和观察者机动策略优化等工程实践也有着十分重要的意义。

This paper analyzes observability properties of general bearings-only target tracking systems.Here ＂general＂ means the target motion can be very complex rather than the simpler,yet more traditional constant velocity motion.Necessary conditions for such ＂general＂ systems to be observable are obtained.A well-known result about bearings-only target tracking is,under the assumption of constant target velocity motion,observer maneuver is necessary for the system to be observable.This paper extends this result by removing the constraint on target motion.It proves that,for a 2D bearings-only target tracking system,the necessary conditions for it to be observable are： 1） the motion of the observer is more complex than that of the target,and 2） the number of independent available bearing measurements equals the number of unknown parameters.This result is not only of theoretical significance in revealing many unique properties of this system,but also very important for practical issues such as efficient tracking algorithm development and observer motion optimization.