[en] 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.
Disciplines :
Electrical & electronics engineering
Author, co-author :
Xu, Sheng
WU, Linlong ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > SPARC
MYSORE RAMA RAO, Bhavani Shankar ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > SPARC
Babu, Prabhu
External co-authors :
yes
Language :
English
Title :
Integrated Trajectory Optimization and Cubature Kalman Filter for UAV-Based Target Tracking with Unknown Initial Position
Publication date :
2022
Event name :
2022 IEEE 12th Sensor Array and Multichannel Signal Processing Workshop (SAM)
Event organizer :
IEEE
Event date :
from 20-06-2022 to 23-06-2022
Main work title :
Integrated Trajectory Optimization and Cubature Kalman Filter for UAV-Based Target Tracking with Unknown Initial Position
Publisher :
IEEE
Pages :
331--335
Peer reviewed :
Peer reviewed
European Projects :
H2020 - 742648 - AGNOSTIC - Actively Enhanced Cognition based Framework for Design of Complex Systems
FnR Project :
FNR12734677 - Signal Processing For Next Generation Radar, 2018 (01/09/2019-31/08/2022) - Bjorn Ottersten
I. Colomina and P. Molina, "Unmanned aerial systems for photogrammetry and remote sensing: A review, " ISPRS Journal of Photogrammetry and Remote Sensing, vol. 92, pp. 79-97, 2014.
D. Floreano and R. J. Wood, "Science, technology and the future of small autonomous drones, " Nature, vol. 521, no. 7553, pp. 460-6, 2015.
Y. Bar-Shalom, "Multitarget-multisensor tracking: Applications and advances. volume III, " Norwood, MA, Artech House, Inc., 2000.
N. H. Nguyen and K. Dogancay, "Closed-form algebraic solutions for angle-of-arrival source localization with Bayesian priors, " IEEE Transactions on Wireless Communications, vol. 18, no. 8, pp. 3827-3842, 2019.
H. Shakhatreh, A. H. Sawalmeh, A. Al-Fuqaha, Z. Dou, E. Almaita, I. Khalil, N. S. Othman, A. Khreishah, and M. Guizani, "Unmanned aerial vehicles (uavs): A survey on civil applications and key research challenges, " IEEE Access, vol. 7, pp. 48572-48634, 2019.
K. Dogancay, "UAV path planning for passive emitter localization, " IEEE Transactions on Aerospace and Electronic systems, vol. 48, no. 2, pp. 1150-1166, 2012.
C. Zhang and J. M. Kovacs, "The application of small unmanned aerial systems for precision agriculture: a review, " Precision agriculture, vol. 13, no. 6, pp. 693-712, 2012.
P. Liu, A. Chen, Y. Huang, J. Han, J. Lai, S. Kang, T. Wu, M. Wen, and M. Tsai, "A review of rotorcraft unmanned aerial vehicle (UAV) developments and applications in civil engineering, " Smart Struct. Syst, vol. 13, pp. 1065-1094, 2014.
T. Inoue, S. Nagai, S. Yamashita, H. Fadaei, R. Ishii, K. Okabe, H. Taki, Y. Honda, K. Kajiwara, and R. Suzuki, "Unmanned aerial survey of fallen trees in a deciduous broadleaved forest in eastern japan, " PloS one, vol. 9, no. 10, pp. e109881, 2014.
K. Dogancay and G. Ibal, "Instrumental variable estimator for 3D bearings-only emitter localization, " in Intelligent Sensors, Sensor Networks and Information Processing Conference, 2005. Proceedings of the 2005 International Conference on, 2005, pp. 63-68.
K. Dogancay, "3D pseudolinear target motion analysis from angle measurements, " IEEE Transactions on Signal Processing, vol. 63, no. 6, pp. 1570-1580, 2015.
K. Dogancay, "3D pseudolinear target motion analysis from angle measurements, " Signal Processing, IEEE Transactions on, vol. 63, no. 6, pp. 1570-1580, March 2015.
S. S. Ponda, R. M. Kolacinski, and E. Frazzoli, "Trajectory optimization for target localization using small unmanned aerial vehicles, " M. S. thesis, Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2008.
S. Xu, K. Dogancay, and H. Hmam, "3D pseudolinear Kalman filter with own-ship path optimization for AOA target tracking, " in IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), Match, 2016, pp. 3136-3140.
S. Xu, K. Dogancay, and H. Hmam, "Distributed pseudolinear estimation and UAV path optimization for 3D AOA target tracking, " Signal Processing, vol. 133, pp. 64-78, 2017.
S. J. Julier and J. K. Uhlmann, "Unscented filtering and nonlinear estimation, " Proceedings of the IEEE, vol. 92, no. 3, pp. 401-422, March 2004.
I. Arasaratnam and S. Haykin, "Cubature Kalman filters, " IEEE Transactions on Automatic Control, vol. 54, no. 6, pp. 1254-1269, 2009.
S. Xu, Y. Pan, Y. Ou, and X. Wu, "IMM-EKF target localization using optimal path planned unmanned underwater vehicle, " in 2018 IEEE International Conference on Real-time Computing and Robotics (RCAR), 2018, pp. 485-490.
S. Xu and K. Dogancay, "Optimal sensor placement for 3-D angleof-arrival target localization, " IEEE Transactions on Aerospace and Electronic Systems, vol. 53, no. 3, pp. 1196-1211, 2017.
A. Aubry, P. Braca, E. Dafflisio, A. De Maio, L. M. Millefiori, and P. Willett, "Optimal opponent stealth trajectory planning based on an efficient optimization technique, " IEEE Transactions on Signal Processing, vol. 69, pp. 270-283, 2021.
M. S. Arulampalam, S. Maskell, N. Gordon, and T. Clapp, "A tutorial on particle filters for online nonlinear/non-gaussian bayesian tracking, " IEEE Transactions on Signal Processing, vol. 50, no. 2, pp. 174-188, 2002.
S. Xu, "Optimal sensor placement for target localization using hybrid RSS, AOA and TOA measurements, " IEEE Communications Letters, pp. 1-5, DOI: 10. 1109/LCOMM. 2020. 2996259, 2020.
F. Rice, "Ownship manoeuvre recommendation in multi-target tracking, " in Proceedings of Defence Applications in Signal Processing (DASP), Coolum, Queensland, Australia, 2011, pp. 1-9.
Similar publications
Sorry the service is unavailable at the moment. Please try again later.
