A Real-Time Moving Ant Estimator for Bearings-Only Tracking

  • Jihong Zhu
  • Benlian Xu
  • Fei Wang
  • Zhiquan Wang
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6145)


A real-time moving ant estimator (RMAE) is developed for the bearings-only target tracking, in which ants located at their individual current state utilize the normalized weight and pheromone value to select the one-step prediction state and the dynamic moving velocity of each ant is depended directly on the normalized weights between two states. Besides this, two pheromone update strategy is implemented. Numerical simulations indicate that the RMAE could estimate adaptively the state of maneuvering or non-maneuvering target, and real-time requirement is superior to the moving ant estimator (MAE).


Bearings-only Ant colony optimization Parameter estimation Target tracking 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Jihong Zhu
    • 1
  • Benlian Xu
    • 2
  • Fei Wang
    • 1
  • Zhiquan Wang
    • 1
  1. 1.School of AutomationNanjing University of Science and TechnologyNanjingP.R. China
  2. 2.Electrical and Automatic EngineeringChangshu Institute of TechnologyChangshuP.R. China

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