Integrated Trajectory Optimization and Cubature Kalman Filter for UAV-Based Target Tracking with Unknown Initial Position

in 2022 IEEE 12th Sensor Array and Multichannel Signal Processing Workshop (SAM) (2022)

This paper investigates the target localization/tracking by angle-of-arrival (AOA) sensors carried on an unmanned aerial vehicle (UAV). In many practical applications, the UAV's own position is not ... [more ▼]

This paper investigates the target localization/tracking by angle-of-arrival (AOA) sensors carried on an unmanned aerial vehicle (UAV). In many practical applications, the UAV's own position is not available, since the global position system (GPS) can hardly work in the indoor environment or interference region. Therefore, considering the unknown initial position of the UAV, a modified cubature Kalman filter (CKF) is developed to estimate both the target states and UAV's initial position jointly by leveraging a benchmark anchor. To further improve the estimation efficiency, we propose an algorithm to optimize the UAV flying trajectory by minimizing the the trace of the estimation covariance matrix in the CKF. According to the simulation results, an observation is found that the UAV will keeping flying alternatively between the anchor and target to guarantee the estimation performance. [less ▲]

Designing (In) finite-alphabet Sequences via Shaping the Radar Ambiguity Function

in ICASSP 2019-2019 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP) (2019)

In this paper, a new framework for designing the radar transmit waveform is established through shaping the radar Ambiguity Function (AF). Specifically, the AF of the phase coded waveforms are analyzed ... [more ▼]

In this paper, a new framework for designing the radar transmit waveform is established through shaping the radar Ambiguity Function (AF). Specifically, the AF of the phase coded waveforms are analyzed and it is shown that a continuous/discrete phase sequence with the desired AF can be obtained by solving an optimization problem promoting equality between the AF of the transmit sequence and the desired AF. An iterative algorithm based on Coordinate Descent (CD) method is introduced to deal with the resulting non-convex optimization problem. Numerical results illustrate the proposed algorithm make it possible to design sequences with remarkably high tolerance towards Doppler frequency shifts, which is of interest to the future generations of automotive radar sensors. [less ▲]