Target state estimation and prediction based standoff tracking of ground moving target using a fixed-wing UAV
Target state estimation and prediction based standoff tracking of ground moving target using a fixed-wing UAV
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DOI：
10.1109/icca.2010.5524326
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发表时间：
2010-06
期刊：
影响因子：
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通讯作者：
L. Wang;Yuan Li;Huayong Zhu;Lincheng Shen
中科院分区：
文献类型：
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作者：
L. Wang;Yuan Li;Huayong Zhu;Lincheng Shen
针对固定翼无人机远距离地面运动目标跟踪问题，提出了一种基于目标状态估计、预测和在线运动规划的解决框架。首先，给出了一种求解框架，建立了固定翼无人机防区外跟踪的形式化表示和系统模型;其次，提出了一种基于Unscented卡尔曼滤波的目标状态估计和预测方法;然后，在预测目标状态的基础上，提出了一种改进的基于李雅普诺夫向量场的运动规划算法。仿真结果表明，该方法在估计和预测目标状态的基础上，提高了远距离目标跟踪的性能。
To the problem of standoff Ground Moving Target Tracking using a fixed-wing UAV, a novel solving framework is presented, which based on target state estimation, prediction and on-line motion planning. First of all, a solving framework was presented, the formal representation and system model of standoff tracking using Fixed-wing UAV was established; next, the Unscented Kalman Filter was suggested for the estimation and prediction of the target state; then, with a predicted target state, a modified motion planning algorithm was presented, which based on Lyapunov vector field. Simulation results demonstrated that the performance of standoff target tracking was improved with regards to the estimated and predicted target state.