TY - JOUR
T1 - Distributed Estimation of a Layered Architecture for Collaborative Air-Ground Target Geolocation in Outdoor Environments
AU - Zhang, Lele
AU - Gao, Feng
AU - Deng, Fang
AU - Xi, Lele
AU - Chen, Jie
N1 - Publisher Copyright:
© 1982-2012 IEEE.
PY - 2023/3/1
Y1 - 2023/3/1
N2 - To solve the problem of collaborative air-ground target search and localization in large outdoor environments, we adopt a distributed layered architecture and propose a corresponding distributed estimation algorithm, which can produce accurate estimates of interested target position. The air-ground system consists of a single unmanned aerial vehicle (UAV) and several ground platforms. First, for the distributed layered architecture, this article develops unbalanced simple convex combination algorithm using one-shot measurements from the single UAV and all ground platforms to generate global estimates of the stationary target state. The novelty of the proposed algorithm is that it considers the differences in sensor capabilities between the aerial and ground platforms. Then, performance analysis is described to show that the proposed algorithm is obviously superior to the traditional existing convex combination algorithms. Finally, the efficacy of this algorithm is further demonstrated by the simulation experiments and actual geolocation tests.
AB - To solve the problem of collaborative air-ground target search and localization in large outdoor environments, we adopt a distributed layered architecture and propose a corresponding distributed estimation algorithm, which can produce accurate estimates of interested target position. The air-ground system consists of a single unmanned aerial vehicle (UAV) and several ground platforms. First, for the distributed layered architecture, this article develops unbalanced simple convex combination algorithm using one-shot measurements from the single UAV and all ground platforms to generate global estimates of the stationary target state. The novelty of the proposed algorithm is that it considers the differences in sensor capabilities between the aerial and ground platforms. Then, performance analysis is described to show that the proposed algorithm is obviously superior to the traditional existing convex combination algorithms. Finally, the efficacy of this algorithm is further demonstrated by the simulation experiments and actual geolocation tests.
KW - Air-ground collaboration
KW - distributed estimation
KW - target geolocation
KW - unmanned aerial vehicle (UAV)
KW - visual detection
UR - http://www.scopus.com/inward/record.url?scp=85128620135&partnerID=8YFLogxK
U2 - 10.1109/TIE.2022.3165245
DO - 10.1109/TIE.2022.3165245
M3 - Article
AN - SCOPUS:85128620135
SN - 0278-0046
VL - 70
SP - 2822
EP - 2832
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 3
ER -