| 摘要 |
<p>A method and apparatus for determining positioning of a sensor (4) relative to a target (10) being tracked (e.g. in an urban environment) using the sensor (4), the sensor (4) being mounted on a vehicle (2), e.g. an unmanned air vehicle (UAV), and being moveable with respect to the vehicle (2), the method comprising: for a certain time-step, measuring a state of the target (10) using the sensor (4); for the certain time- step, estimating a state of the target (10) using the measurements; determining instructions for movement of the sensor (4) with respect to the vehicle (2), and instructions for the movement of the vehicle (2), using the estimated state; wherein determining movement instructions comprises incorporating knowledge of how sensor line of sight is restricted, sensor line of sight being a path between the sensor (4) and an object being measured using the sensor (4).</p> |
