Joint path planning and sensor subset selection for multistatic sensor networks

Since inexpensive passive sensors have become available, it is possible to deploy a large number of them for tracking purposes in Anti-Submarine Warfare (ASW). However, modern submarines are quiet and difficult to track with passive sensors alone. Multistatic sensor networks, which have few transmitters (e.g., dipping sonars) in addition to passive receivers (e.g., sonobouys), have the potential to improve the tracking performance. The performance can be improved further by moving the transmitters according to existing target states and any possible new target states. Even though a large number of passive sensors are available, due to frequency, processing power and other physical limitations, only a few of them can be used at any one time. Then the problems are to decide the path of the transmitters and select a subset from the available passive sensors in order to optimize the tracking performance. In this paper, the Posterior Cramer-Rao Lower Bound (PCRLB), which gives a lower bound on estimation uncertainty, is used as the performance measure. An algorithm is presented to decide jointly the optimal path of the movable transmitters, by considering transmitters´ operational constraints, and the optimal subset of passive sensors that should be used at each time steps for tracking multiple, possibly time-varying, number of targets. The effect of sensor location uncertainties, due to deployment error and possible sensor drifting, on the tracking performance is addressed in the sensor management algorithm. Simulation results illustrating the performance of the proposed algorithm are presented.