Observability problem for bearings-only tracking
ANTHONY N. PAYNE · International Journal of Control · 1989
The state-observability problem for bearings-only tracking of a constant velocity target by a moving observer in two spatial dimensions is analysed. Specifically, we establish general necessary and sufficient conditions for observability and characterize the class of observer motions for which the state remains unobservable. In the course of the analysis, previously developed observability criteria are identified as special cases of our results.