About Fisher Information Matrix and Self-Optimizing Control in Bearing Only Localization
Résumé
In this article, we revisit the results of Optimal observer motion for localization with bearing measurements from Hammel, Liu, Hilliard, and Gong [1] concerning the lower bound associated with the determinant of the Fisher information matrix for bearing only localization. We specify this bound and use the associated optimality curves to construct an adaptive control for locating the position of a target using only noisy bearing measurements. For this self-optimizing control, the target position estimate is updated using a contrast miminmum estimator whose strong consistency is proved. Numerical simulations allow us to discuss the effectiveness of the proposed method.
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