Observer manoeuvre control to track multiple targets considering Doppler-bearing measurements in threat environments

Abstract

Tracking a target using Doppler-bearing measurements is called the Doppler-bearing target motion analysis (DBTMA) problem. In order to improve the estimation performance of the DBTMA, this study introduces observer manoeuvre controls under the constraint that the turn rate of the observer is bounded above. The proposed approach is unique in considering the following factors: (i) approach a target while localising the target; (ii) track multiple targets simultaneously; (iii) avoid threat environments; (iv) bearing standard deviation varies as ship-relative bearing varies. The authors demonstrate the performance of the proposed approach under MATLAB simulations.