Optimized Flight Path for Localization Using Line of Bearing

This research develops optimized flight paths for localization of a target using LOB measurements. The target area is expressed as an error ellipse using the measurement errors of the LOBs. The optimization approach is focused on minimizing the size of the error ellipse. The algorithm for the optimized path is generated and compared with typical flight paths. The optimization routine is based on the results revised from previous similar research in the literature. A geometrical method to estimate the error ellipse is combined with optimal control in this research. Each LOB gives a possible target area and this target area can be reduced by overlapping areas developed from multiple LOBs. The algorithm based on this method is tested with a single target and with multiple targets in simulation. In addition to analytical simulations of the proposed method, a real-world test is conducted using a remotely controlled truck. From the simulation and a real-world test, the change of the semi-major axis of the error ellipse with increasing number of measurements and the total number of measurements needed for to achieved predefined semi-major axis are verified