In this paper, a scalar target estimator is designed to solve the problem of localization and circumnavigation for a stationary or moving target by one agent using the agent’s known position and its bearing-only measurements of the target. The estimator is low-cost because only scalar rather than vector estimation is involved, where the estimate of the target is fixed in the line passing the agent and the target. Meanwhile, a control protocol is adopted to force the agent to move on a circular trajectory around the target. When the target is stationary, we show that the new estimation method provides a mechanism for collision avoidance, which means that the agent keeps a comparatively large distance away from the target in the whole circumnavigation process. When the target is moving, the new estimator guarantees boundedness of the distance between the agent and the target, and a concrete bound of the distance is proposed. The corresponding convergence and stability analyses are provided subsequently. Simulations are conducted to verify the proposed method.

在本文中，设计了一种标量目标估计器，以解决一个代理使用代理的已知位置及其对目标的仅方位测量值对固定或移动目标进行定位和绕行的问题。估计器是低成本的，因为只涉及标量估计而不是向量估计，其中目标的估计固定在通过代理和目标的直线中。同时，采用控制协议来迫使代理在目标周围的圆形轨迹上移动。当目标静止时，我们证明了新的估计方法提供了一种避免碰撞的机制，这意味着代理在整个环行过程中都与目标保持相对较大的距离。当目标移动时 新的估计器保证了主体与目标之间距离的有界，并提出了距离的具体界限。随后提供了相应的收敛性和稳定性分析。通过仿真验证了该方法的有效性。