| Title |
Linear Distributed Passive Target Tracking Filter for Cooperative Multiple UAVs |
| Authors |
이윤하(Yunha Lee) ; 김찬영(Chan-Young Kim) ; 나원상(Won-Sang Ra) ; 황익호(Ick-Ho Whang) |
| DOI |
http://doi.org/10.5370/KIEE.2018.67.2.314 |
| Keywords |
Distributed filter ; Passive target tracking ; Multiple UAVs ; Coordinate transform uncertainty |
| 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. |