Observability of target tracking with range-only measurements

A necessary and sufficient condition for local system observability, a prerequisite to target motion analysis, is presented in this technical communication for two-dimensional manoeuvring target tracking with range-only measurements from a single observer. The approach taken in this paper utilizes the Fisher information matrix developed from the analytical treatment of system dynamics and noisy measurement equations established in a modified polar coordinate system. The analytical results of this paper are demonstrated by a series of simulation studies for applications on naval surface vehicle engagements.