Coordinated standoff tracking of moving targets with optimal measurement configuration

Coordinated target tracking is one of the most important applications in multiple UAVs cooperative control, and coordinated standoff tracking of random moving targets is presented in this paper. Based on the Fisher Information Matrix (FIM), an analytical one-step determinant of FIM is introduced, and the optimal measurement configuration in cooperative tracking is obtained by multiple UAVs equipped with only passive bearing sensors. Moreover, the velocity and turn rate commands are obtained by Lyapunov guidance vector fields (LVFG) in multiple UAVs coordinated standoff tracking. The simulation demonstrates the effectiveness of the proposed methods.