The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Linear Distributed Passive Target Tracking Filter for Cooperative Multiple UAVs

다중 UAV 협업을 위한 선형 분산 피동 표적추적 필터 설계

  • 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)
  • Received : 2017.12.11
  • Accepted : 2018.01.30
  • Published : 2018.02.01
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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

Acknowledgement

Supported by : 국방과학연구소

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