Recursive Linear Robust Moving Target Tracking Filter Using Range Difference Information Measured by Multiple UAVs

다중 UAV에 의해 획득된 거리 차 측정치를 이용한 순환 선형 강인 이동 표적추적 필터

In this paper, the range difference based the moving target tracking problem using multiple UAVs is solved within the new framework of linear robust state estimation. To do this, the relative kinematics is modeled as an uncertain linear system containing stochastic parametric uncertainties in its measurement matrix. Applying the non-conservative robust Kalman filter for the uncertain system, a quasi-optimal linear target tracking filter is designed. For its recursive linear filter structure, the proposed method can ensure the fast convergence and reliable target tracking performance. Moreover, it is suitable for real-time applications using multiple UAVs.