Trajectory optimization for target localisation with bearing-only measurement

This paper considers the problem of twodimensional (2D) constrained trajectory optimisation of a pointmass aerial robot for constant-manoeuvring target localisation using bearing-only measurement. A performance metric that can be utilised in trajectory optimisation to maximise target observability is proposed first based on geometric conditions. One-step optimal manoeuvre that maximises the observability criterion is then derived analytically for moving targets. The heading angle constraint is also incorporated in the proposed optimal manoeuvre derivation to support practical application. Numerical simulations with some comparisons are presented to validate the analytical findings