Fixed Target 3D Localization Based on Range Data Only: a Recursive Least Squares Approach

The problem of identifying the position of a fixed target by a vehicle moving in 3D space may occur in several applications as underwater or aerospace monitoring. Assuming that only range measurements to the target are available and that the vehicle is equipped with a navigation system providing self-localization, the problem of localizing the target is analyzed. A recursive least squares fading memory filter solution is proposed. The dependence of the covariance of the estimated target position on the velocity profile of the vehicle is discussed.