Dynamic Deploying among Multi-scout based on Two Optimal Objectives

The relative deployment among multi-scout and target affects the information value of the relative measurement for estimating the target's position. For the scouts whose positions are dynamic and undetermined, to optimize their deployment for the best relative measurement on the target and obtain the optimal position estimation on themselves at the same time, this paper takes the determinant of Fisher information matrix as the index for valuing the relative measurement information. The first objective is established by maximizing the utilization of relative measurement information for estimating the position of the target and the scout. Meanwhile, regarding the position of the scouts and the target as the variables to be optimized, the second objective is established by minimizing the error variance of the overall position estimation of them. The two objectives are mutually conditional and iterating each other. The simulation results show that, compared with the traditional method, the proposed method can achieve more objective spatial deploying. The proposed method not only improves the accuracy of target position estimation, but also helps to estimate the position of scouts.