DocumentCode :
2786793
Title :
Decentralised road-map assisted ground target tracking using a team of UAVs
Author :
Hyondong Oh ; Seungkeun Kim ; Tsourdos, A. ; White, B.
Author_Institution :
Dept. of Inf. & Syst. Eng., Cranfield Univ., Swindon, UK
fYear :
2012
fDate :
16-17 May 2012
Firstpage :
1
Lastpage :
6
Abstract :
This paper presents a ground moving target tracking filter and guidance using a team of UAVs. To improve the estimation accuracy, approximated road-map information using constant curvature segments is utilised with a constrained filtering. Furthermore, the decentralised extended information filter and the Kalman consensus algorithm are applied to a standoff orbit tracking problem along with coordinated vector field guidance, and their performances are analysed depending on the communication noises and network structures using a realistic car trajectory data.
Keywords :
Kalman filters; autonomous aerial vehicles; filtering theory; target tracking; tracking filters; Kalman consensus algorithm; UAVS; approximated road-map information; communication noises; constant curvature segments; constrained filtering; coordinated vector field guidance; decentralised extended information filter; decentralised road-map assisted ground target tracking; ground moving target tracking filter; network structures; realistic car trajectory data; standoff orbit tracking problem; unmanned aerial vehicles; Communication structure; Constrained filtering; Decentralised estimation; Target Tracking;
fLanguage :
English
Publisher :
iet
Conference_Titel :
Data Fusion & Target Tracking Conference (DF&TT 2012): Algorithms & Applications, 9th IET
Conference_Location :
London
Electronic_ISBN :
978-1-84919-624-6
Type :
conf
DOI :
10.1049/cp.2012.0407
Filename :
6253630
Link To Document :
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