Browse > Article
http://dx.doi.org/10.5370/KIEE.2018.67.2.314

Linear Distributed Passive Target Tracking Filter for Cooperative Multiple UAVs  

Lee, Yunha (School of Mechanical and Control Engineering, Handong Global University)
Kim, Chan-Young (School of Mechanical and Control Engineering, Handong Global University)
Ra, Won-Sang (School of Mechanical and Control Engineering, Handong Global University)
Whang, Ick-Ho (Center for Precise Guidance Technology, Agency for Defense Development)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.67, no.2, 2018 , pp. 314-324 More about this Journal
Abstract
This paper proposes a linear distributed target tracking filter for multiple unmanned aerial vehicles(UAVs) sharing their passive sensor measurements through communication channels. Different from the conventional nonlinear filtering schemes, the distributed passive target tracking problem is newly formulated within the framework of a linear robust state estimation theory incorporated with a linear uncertain measurement equation including the coordinate transform uncertainty. To effectively cope with the performance degradation due to the coordinate transform uncertainty, a linear consistent robust Kalman filter(CRKF) theory is devised and applied for designing a distributed passive target tracking filter. Through the simulations for typical UAV surveillance mission, the superior performance of the proposed method over the existing schemes of distributed passive target tracking are demonstrated.
Keywords
Distributed filter; Passive target tracking; Multiple UAVs; Coordinate transform uncertainty;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Dobrokhodov, V.N., et al.: "Vision-based tracking and motion estimation for moving targets using unmanned air vehicles," Journal of guidance, control, and dynamics, 2008, 31.4, pp. 907-917.   DOI
2 Wang, Z., and Dongbing G.: "Cooperative target tracking control of multiple robots," IEEE Transactions on Industrial Electronics, 2012, 59.8, pp. 3232-3240.   DOI
3 Xu, S., Dogancay, K. and Hmam, H.: "Distributed pseudolinear estimation and UAV path optimization for 3D AOA target tracking," Signal Processing, 2017, pp. 64-78.
4 Rao, B.S.Y., Durrant-Whyte, H.F. and Sheen, J.A.: "A fully decentralized multi-sensor system for tracking and surveillance," The International Journal of Robotics Research, 1993, 12.1, pp. 20-44.   DOI
5 Wang, F. and Balakrishnan, V.: "Robust Kalman filters for linear time-varying systems with stochastic parametric uncertainties," IEEE Transactions on Signal Processing, 2002, 50.4, pp. 803-813.   DOI
6 Olfati-Saber, R.: "Distributed Kalman filtering for sensor networks," Decision and Control, 2007 46th IEEE Conference on, 2007, pp. 5492-5498.
7 Carlson, N.A.: "Distributed Kalman filter architectures phase II - Results," Final Report, WL-TR-95-1096, 1995, Wright Laboratory.
8 Tahk, M., and Speyer, J.L.: "Target tracking problems subject to kinematic constraints," IEEE Transactions on Automatic Control, 1990,35.3, pp. 324-326.   DOI
9 Giri, N.C.: "Introduction to probability and statistics", Marcel Dekker, Inc., 1993.
10 Billingsley, P.: "Convergence of probability measures," John Wiley & Sons, 1969.
11 Mahmoud, N.H., and Khalid, H.M.: "Distributed Kalman filtering: a biblographic review," IET Control Theory Appl., 2013, pp. 483-501.
12 Olfati-Saber, R.: "Distributed tracking for mobile sensor networks with information-driven mobility", American Control Conference, 2007.
13 Gu, G., Chandler, P.R., Schumacher, C.J., Sparks, A., and Pachter, M.:"Optimal cooperative sensing using a team of UAVs," IEEE Trans. Aerosp.Electron. Syst., 2006, 42.4, pp. 1446-1458.   DOI
14 Purvis, K.B., K. J. Astrom, and Mustafa K.: "Estimating radar positions using cooperative unmanned air vehicle teams," Proceedings of the 2005, American Control Conference, 2005, pp. 3512-3517.