An optimization algorithm of multi-observer trajectories for cooperative bearings-only target localization

In the sparse wireless sensor networks, it is difficult to utilize only a few fixed nodes to achieve high-precision target localization due to the limited number of optional nodes. This paper proposes an optimization algorithm of multi-observer trajectories for collaborative bearings-only target localization to minimize the expected filtered RMS position error. The rule of the search scope of the optimal positions for observers is proposed, based on the observers and target bearing distributing relationships. Computer simulations demonstrate that the proposed algorithm has the better target localization performance. Finally, the general rules of multi-observer optimal trajectories are concluded.