A Fusion Estimation Method for Multi-UAV Geosynchronous Target Perception

This paper presents a study of the error model based on image perception and target positioning. The interactive multi-model unscented Kalman filter algorithm for single-UAV target perception and the federated filter algorithm for multi-UAV fusion are used to achieve multi-UAV positioning fusion. Considering the effective performance of the filtering algorithm, the adaptive motion model and fusion feedback factors are established. The effectiveness of the algorithm is verified by experimental results.

[1]  Julien Marzat,et al.  Model-based fault diagnosis for aerospace systems: a survey , 2012 .

[2]  Hu,et al.  Multi-sensor federated unscented Kalman filtering algorithm in intermittent observations , 2015 .

[3]  Arno Solin,et al.  Optimal Filtering with Kalman Filters and Smoothers , 2011 .

[4]  Wang Peng-wei.  Two-layer IMM tracking algorithm for turn maneuver , 2008 .

[5]  Tian Lai Xu.  Federated IMM-UKF Algorithm for Multi-Sensor Data Fusion , 2013 .

[6]  Michal Reinstein,et al.  Evaluation of the EKF-Based Estimation Architectures for Data Fusion in Mobile Robots , 2015, IEEE/ASME Transactions on Mechatronics.

[7]  Jianda Han,et al.  An Adaptive UKF Algorithm for the State and Parameter Estimations of a Mobile Robot , 2008 .

[8]  S. Feng,et al.  Estimation precision comparison of Cubature Kalman filter and Unscented Kalman filter , 2013 .

[9]  James M. Conrad,et al.  A survey of multisensor fusion techniques, architectures and methodologies , 2017, SoutheastCon 2017.

[10]  Halil Ersin Soken,et al.  Attitude and attitude rate estimation for a nanosatellite using SVD and UKF , 2015, 2015 7th International Conference on Recent Advances in Space Technologies (RAST).

[11]  Myo-Taeg Lim,et al.  Improving Reliability of Particle Filter-Based Localization in Wireless Sensor Networks via Hybrid Particle/FIR Filtering , 2015, IEEE Transactions on Industrial Informatics.

[12]  Antonio F. Gómez-Skarmeta,et al.  High-Integrity IMM-EKF-Based Road Vehicle Navigation With Low-Cost GPS/SBAS/INS , 2007, IEEE Transactions on Intelligent Transportation Systems.