Moving observer trajectory control by angular measurements in tracking problem

An optimal path synthesis problem for a moving observer that performs angular observations over a target moving uniformly along a straight line on a plane is solved. It is supposed that elevation and azimuth angles can be observed when the observer moves in space and only the azimuth angle can be observed when the observer moves on a plane. Observer's trajectories are obtained with the help of Pontryagin's maximum principle as numerical solutions of an optimal control problem. As a performance criterion the trace of covariance matrix of the target motion elements estimate is used. A possibility of solving the problem in real time on board for unmanned aerial vehicle is investigated. A comparison with the scenario of two unmanned aerial vehicles using is given.