Trajectory control of observations (Q1281057)

The author considers the following version of the trajectory control of observations. He solves a two-dimensional guidance problem for a moving observer who estimates the vector of his coordinates from goniometric measurements. The extended Kalman filter is used for the estimation of the coordinates and the observer motion is controlled in a conditionally-program manner. In such a way, the problem of creating an optimal trajectory is reduced to solving an auxiliary problem of optimal control with a criterion guaranteeing effective work of the filter and initial conditions that are reconsidered during the filtering procedure. This auxiliary problem is solved with the help of Pontryagin's maximum principle. Simulation results are given. They demonstrate the effectiveness of the conditionally-program control constructed from the solution to the auxiliary problem.