Unmanned Aerial Vehicle Target Tracking Based on OTSCKF and Improved Coordinated Lateral Guidance Law

This paper proposes an approach of target tracking of a ground target for UAVs using Optimal Two-Stage Cubature Kalman Filter and Improved Coordinated Lateral Guidance Law. Firstly, the Optimal Two-Stage Cubature Kalman Filter (OTSCKF) is proposed to estimate the target motion. The OTSCKF combines t...

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Bibliographic Details
Published in:ISPRS international journal of geo-information 2022-03, Vol.11 (3), p.188
Main Authors: Jiang, Wei, Lyu, Yongxi, Shi, Jingping
Format: Article
Language:English
Subjects:
Algorithms
Bias
Control algorithms
flight guidance
Guidance (motion)
Kalman filters
Lateral stability
Moving targets
Sensors
state estimation
target tracking
Tracking
Unmanned Aerial Vehicles
Vehicles
Velocity
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Summary:This paper proposes an approach of target tracking of a ground target for UAVs using Optimal Two-Stage Cubature Kalman Filter and Improved Coordinated Lateral Guidance Law. Firstly, the Optimal Two-Stage Cubature Kalman Filter (OTSCKF) is proposed to estimate the target motion. The OTSCKF combines two-stage filtering technology with CKF to improve the estimation accuracy. Secondly, to keep a constant distance between the UAV and the target, a new guidance law based on the lateral turning equation is proposed and its asymptotic stability is proven. On this basis, a distributed tracking algorithm is designed to balance the phase difference and achieve cooperation among multi-UAVs. Thirdly, numerical experiments are performed for the tracking problems of moving targets and the results verify the effectiveness of the proposed guidance algorithm.
ISSN:2220-9964
2220-9964
DOI:10.3390/ijgi11030188