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In this study, the best engagement ordering for a friendly fire unit against multiple targets is considered. This target prioritization is performed by computing a priority function based on the range and direction of a target using the images from an optical device. We automatically obtain the features of a target like x, y coordinates, intensity and size from the image sequence by the help of a tracker software. These features are used to estimate the range and the direction of each target. In our range estimation algorithm, camera properties (focal length, angle of view) and the features of the target extracted from tracker are used to find the z coordinate of the target. We estimate the range by using the x, y and z coordinates of the target. We assumed the direction is given by the cosine value of the angle between the vector pointing to the friendly force from the target and the vector of the movement of the target. We apply the direction algorithm by the help of the x, y, z coordinates of the target. After the estimation of the range and the direction, we applied target prioritization techniques. In the prioritization process, an expected utility value is computed for each possible engagement ordering using some features of the forces like range, direction, and mean rate of fire; then the ordering which maximizes this value is chosen. The aim of the friendly fire unit may vary: In some cases he may want to annihilate as many targets as possible regardless of the threats they pose whereas in other cases he may prefer to maximize the removed threat. The utility value used in all these cases may vary between zero and one. The strength of these range and direction estimation algorithms on engagement ordering are tested through simulated data and the results are approximately the same with the correct range and direction values.
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