TY - JOUR
T1 - Weighted Decentralized Information Filter for Collaborative Air-Ground Target Geolocation in Large Outdoor Environments
AU - Zhang, Lele
AU - Gao, Feng
AU - Chen, Bofan
AU - Xi, Lele
AU - Deng, Fang
AU - Chen, Jie
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023/11/1
Y1 - 2023/11/1
N2 - The unmanned air-ground vehicle system has been successfully applied in civil and military domains. Collaborative vision-based target geolocation with this system can provide an enduring and accurate estimate of moving target state. Traditional decentralized information filter (DIF) treated each platform in the system identically. In fact, the observation capabilities of aerial and ground platform typically differ from each other due to different configurations and changing sensor noises. Without considering these differences, the resources of each platform cannot be fully utilized. To handle the issue, we develop a weighted DIF for geolocating of moving targets via air-ground collaboration. Specifically, it can produce a weighted factor autonomously for each platform based on the similarity of tracks from the air-ground system. Then, it is able to have more accurate global estimates than the traditional filter. Finally, simulation experiments and actual tests are conducted and the results are presented to validate the efficacy of the proposed method. Additional details can be seen in our video submission.
AB - The unmanned air-ground vehicle system has been successfully applied in civil and military domains. Collaborative vision-based target geolocation with this system can provide an enduring and accurate estimate of moving target state. Traditional decentralized information filter (DIF) treated each platform in the system identically. In fact, the observation capabilities of aerial and ground platform typically differ from each other due to different configurations and changing sensor noises. Without considering these differences, the resources of each platform cannot be fully utilized. To handle the issue, we develop a weighted DIF for geolocating of moving targets via air-ground collaboration. Specifically, it can produce a weighted factor autonomously for each platform based on the similarity of tracks from the air-ground system. Then, it is able to have more accurate global estimates than the traditional filter. Finally, simulation experiments and actual tests are conducted and the results are presented to validate the efficacy of the proposed method. Additional details can be seen in our video submission.
KW - Collaborative air-ground system
KW - decentralized estimation
KW - vision-based target geolocation
UR - http://www.scopus.com/inward/record.url?scp=85167839320&partnerID=8YFLogxK
U2 - 10.1109/TSMC.2023.3297597
DO - 10.1109/TSMC.2023.3297597
M3 - Article
AN - SCOPUS:85167839320
SN - 2168-2216
VL - 53
SP - 7292
EP - 7302
JO - IEEE Transactions on Systems, Man, and Cybernetics: Systems
JF - IEEE Transactions on Systems, Man, and Cybernetics: Systems
IS - 11
ER -