Multi Target Observability

TL;DR

This paper investigates multi-target observability using bearing angles and other measurements, establishing necessary and sufficient conditions for accurate state estimation and target distinguishability in complex tracking scenarios.

Contribution

It introduces a comprehensive observability criterion for multiple targets with higher-order dynamics, considering various measurement types, enhancing tracking accuracy and target differentiation.

Findings

Derived necessary and sufficient conditions for multi-target observability.

Analyzed ambiguous trajectories to improve target distinguishability.

Provided insights into measurement types for enhanced tracking accuracy.

Abstract

In this paper, we mainly focus on the problem of multi-target observability, focusing on the unique state estimation criteria for multiple targets. We derive the condition which is necessary as well as sufficient for observability using bearing angles with multiple higher-order dynamics observed by a single observer. We then establish an alternative notion of observability by analyzing ambiguous target trajectories and deriving the condition which is NECNDSUF (Nec. and Suff.) for multi-target observability, considering three types of measurements: Doppler-only, bearing-only, and combined Doppler and bearing measurements, which offers insights that can improve target distinguishability, trajectory reconstruction, and overall tracking accuracy.