Distributed Unmanned Aerial Vehicle Positioning for Multitarget Tracking with Bearing-Only Information

Xiwen Yang; Shaoming He; Defu Lin; Yadong Wang

doi:10.2514/1.I011037

Distributed Unmanned Aerial Vehicle Positioning for Multitarget Tracking with Bearing-Only Information

Xiwen Yang, Shaoming He^*, Defu Lin, Yadong Wang

^*Corresponding author for this work

School of Aerospace Engineering

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

This paper proposes a distributed positioning algorithm for a swarm of unmanned aerial vehicles (UAVs) to track multiple moving targets with bearing-only measurements. An approximate performance metric is first derived that can be used in position determination based on the properties of multisensor joint probabilistic data association (JPDA) filter. A fully distributed position planning algorithm using incremental optimization strategy is then proposed for tracking multiple moving targets. Simulation examples with comparison results validate the effectiveness of the proposed algorithm.

Original language	English
Pages (from-to)	355-365
Number of pages	11
Journal	Journal of Aerospace Information Systems
Volume	19
Issue number	5
DOIs	https://doi.org/10.2514/1.I011037
Publication status	Published - 2022

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title = "Distributed Unmanned Aerial Vehicle Positioning for Multitarget Tracking with Bearing-Only Information",

abstract = "This paper proposes a distributed positioning algorithm for a swarm of unmanned aerial vehicles (UAVs) to track multiple moving targets with bearing-only measurements. An approximate performance metric is first derived that can be used in position determination based on the properties of multisensor joint probabilistic data association (JPDA) filter. A fully distributed position planning algorithm using incremental optimization strategy is then proposed for tracking multiple moving targets. Simulation examples with comparison results validate the effectiveness of the proposed algorithm.",

author = "Xiwen Yang and Shaoming He and Defu Lin and Yadong Wang",

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AU - Yang, Xiwen

AU - He, Shaoming

AU - Lin, Defu

AU - Wang, Yadong

PY - 2022

Y1 - 2022

N2 - This paper proposes a distributed positioning algorithm for a swarm of unmanned aerial vehicles (UAVs) to track multiple moving targets with bearing-only measurements. An approximate performance metric is first derived that can be used in position determination based on the properties of multisensor joint probabilistic data association (JPDA) filter. A fully distributed position planning algorithm using incremental optimization strategy is then proposed for tracking multiple moving targets. Simulation examples with comparison results validate the effectiveness of the proposed algorithm.

AB - This paper proposes a distributed positioning algorithm for a swarm of unmanned aerial vehicles (UAVs) to track multiple moving targets with bearing-only measurements. An approximate performance metric is first derived that can be used in position determination based on the properties of multisensor joint probabilistic data association (JPDA) filter. A fully distributed position planning algorithm using incremental optimization strategy is then proposed for tracking multiple moving targets. Simulation examples with comparison results validate the effectiveness of the proposed algorithm.

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DO - 10.2514/1.I011037

M3 - Article

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EP - 365

JO - Journal of Aerospace Information Systems

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Distributed Unmanned Aerial Vehicle Positioning for Multitarget Tracking with Bearing-Only Information

Abstract

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