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Volume 41 Issue 11
Nov.  2015
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Journal of Beijing University of Aeronautics and Astronautics  > 2015  >  41(11): 2116-2123.
ZHU Qian, ZHOU Rui, DONG Zhuoning, et al. Coordinated standoff target tracking using two UAVs with only bearing measurement[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(11): 2116-2123. doi: 10.13700/j.bh.1001-5965.2014.0716(in Chinese)
Citation: ZHU Qian, ZHOU Rui, DONG Zhuoning, et al. Coordinated standoff target tracking using two UAVs with only bearing measurement[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(11): 2116-2123. doi: 10.13700/j.bh.1001-5965.2014.0716(in Chinese)
shu

Coordinated standoff target tracking using two UAVs with only bearing measurement

doi: 10.13700/j.bh.1001-5965.2014.0716
  • 1.

    School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • 2. AVIC Chengdu Aircraft Design & Research Institute, Chengdu 610091, China

  • Received Date: 18 Nov 2014
  • Rev Recd Date: 30 Jan 2015
  • Publish Date: 20 Nov 2015
    Abstract
  • A novel method for a random moving target coordinated standoff tracking was proposed to maximize the target position estimation precision by two unmanned aerial vehicles (UAVs) equipped with only bearing sensor. The analytical relationship model between the UAV observation geometry configuration and the root mean square error (RMSE) of target position estimation, which is chosen as performance index, was established, and thus the optimal UAV observation geometry configuration was obtained. Extended information filter was used to implement target states fusion and estimation. The optimal cooperative observation geometry configuration was implemented using online distributed nonlinear model predictive control (NMPC), considering the constraints of UAV platform dynamic performances, collision avoiding, and security distance. The simulation results demonstrated the pair of UAV effectively maintained the optimal observation geometry configuration and coordinated standoff target tracking performance in real-time.

     

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