Systems and Means of Informatics

2025, Volume 35, Issue 3, pp 54-70

TYPICAL MODELS OF OBSERVATION SYSTEM FOR TRACKING AND NAVIGATION OF UNMANNED MOVING OBJECTS

  • I. V. Uryupin

Abstract

The solution of navigation problems by the state of a stochastic dynamic system filtering on indirect observations is based on two models of equal importance. The first is motion model of the object whose position needs to be estimated. The second is the observation model, the specific features of which are dictated by the variety of measurement instruments used. The article discusses a typical noncooperative scenario in which an object is monitored by an independent complex of external measurements. The physical quantities measured in this scenario are directional angles (azimuth, or bearing, and elevation) and range. However, the impact on the measurement results of external uncontrolled factors formed by the environment in which the movement-observation takes place can be quite diverse. The article proposes several typical options for describing such an impact. The first, the standard one, assumes simple additive errors of observations. In the second case, this model is complicated by the assumption that measurement errors are correlated with the current state of the moving object. The physical meaning of this option is provided by the range measurement. Both cases assume stable (without failures) operation of the monitoring complex. The third option is based on a well-known model of switching observation channels and allows for flexible modeling of both short- and long-term failures of some measuring devices. The final version takes into account the specific features of using sonars - acoustic sensors, i.e., motion in an aquatic environment. To illustrate the differences between the models considered, calculations are provided using position estimates based on direct measurements which are not affected by the motion model.

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