Distributed pseudolinear estimation and UAV path optimization for 3D AOA target tracking

We address the problem of angle-of-arrival (AOA) target tracking using multiple unmanned aerial vehicles (UAVs) in three-dimensional (3D) space. A distributed 3D AOA target tracking method is proposed consisting of a distributed estimator and path optimization algorithm for multiple UAVs. First a novel 3D distributed pseudolinear Kalman filter (DPLKF) is developed to improve the stability of an extended Kalman filter solution. The DPLKF consists of two coupled filters; viz., an xy-DPLKF and a z-DPLKF. The bias problem of the 3D DPLKF is analyzed and a bias reduction method is proposed. A distributed path optimization algorithm is developed subject to communication range constraints and no-fly zones. This algorithm computes UAV waypoints using gradient-descent optimization on the xy-plane and grid search along the z-axis. To improve the tracking performance, the trace of the error covariance matrix is minimized. The properties and effectiveness of the proposed strategy are discussed and validated with simulation examples. HighlightsA novel distributed pseudolinear Kalman filter (DPLKF) is developed for 3D AOA target tracking.The bias problem of the 3D DPLKF is analyzed and a bias reduction method is proposed.A distributed path optimization algorithm is developed subject to communication range constraints and no-fly zones.

[1]  Kutluyil Dogançay,et al.  Optimal angular sensor separation for AOA localization , 2008, Signal Process..

[2]  A. Sayed,et al.  Diffusion distributed Kalman filtering with adaptive weights , 2009, 2009 Conference Record of the Forty-Third Asilomar Conference on Signals, Systems and Computers.

[3]  V. Aidala.  Kalman Filter Behavior in Bearings-Only Tracking Applications , 1979, IEEE Transactions on Aerospace and Electronic Systems.

[4]  Kutluyil Dogançay,et al.  UAV Path Planning for Passive Emitter Localization , 2012, IEEE Transactions on Aerospace and Electronic Systems.

[5]  Yaakov Bar-Shalom,et al.  Multitarget-Multisensor Tracking: Applications and Advances , 1992 .

[6]  Kutluyil Dogançay,et al.  3D Pseudolinear Target Motion Analysis From Angle Measurements , 2015, IEEE Transactions on Signal Processing.

[7]  Yih-Fang Huang,et al.  Distributed parameter estimation with selective cooperation , 2009, 2009 IEEE International Conference on Acoustics, Speech and Signal Processing.

[8]  Y. Oshman,et al.  Optimization of observer trajectories for bearings-only target localization , 1999 .

[9]  Yih-Fang Huang,et al.  Adaptive Distributed Estimation Based on Recursive Least-Squares and Partial Diffusion , 2014, IEEE Transactions on Signal Processing.

[10]  Cishen Zhang,et al.  Diffusion Kalman Filtering Based on Covariance Intersection , 2012, IEEE Transactions on Signal Processing.

[11]  Ngoc Hung Nguyen,et al.  Adaptive distributed waveform selection for target tracking by a multistatic radar system , 2014, 2014 IEEE Workshop on Statistical Signal Processing (SSP).

[12]  Kutluyil Dogançay,et al.  Optimal sensor deployment for 3D AOA target localization , 2015, 2015 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP).

[13]  Yih-Fang Huang,et al.  Distributed Least Mean-Square Estimation With Partial Diffusion , 2014, IEEE Transactions on Signal Processing.

[14]  Kutluyıl Doğançay,et al.  Bias compensation for the bearings-only pseudolinear target track estimator , 2006, IEEE Transactions on Signal Processing.

[15]  Dan Simon,et al.  Optimal State Estimation: Kalman, H∞, and Nonlinear Approaches , 2006 .

[16]  Tong Heng Lee,et al.  Optimal sensor placement for target localisation and tracking in 2D and 3D , 2012, Int. J. Control.

[17]  Linda M. Davis,et al.  Adaptive waveform scheduling for target tracking in clutter by multistatic radar system , 2014, 2014 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP).

[18]  V. Aidala,et al.  Biased Estimation Properties of the Pseudolinear Tracking Filter , 1982, IEEE Transactions on Aerospace and Electronic Systems.

[19]  F. Gustafsson,et al.  Mobile positioning using wireless networks: possibilities and fundamental limitations based on available wireless network measurements , 2005, IEEE Signal Processing Magazine.

[20]  Ali H. Sayed,et al.  Diffusion strategies for adaptation and learning over networks: an examination of distributed strategies and network behavior , 2013, IEEE Signal Processing Magazine.

[21]  K. Dogancay,et al.  Instrumental Variable Estimator for 3D Bearings-Only Emitter Localization , 2005, 2005 International Conference on Intelligent Sensors, Sensor Networks and Information Processing.

[22]  D. Simon.  Optimal State Estimation: Kalman, H Infinity, and Nonlinear Approaches , 2006 .

[23]  Ali H. Sayed,et al.  Diffusion Strategies for Distributed Kalman Filtering and Smoothing , 2010, IEEE Transactions on Automatic Control.

[24]  J. Speyer,et al.  A stochastic analysis of a modified gain extended Kalman filter with applications to estimation with bearings only measurements , 1983 .

[25]  Mohinder S. Grewal,et al.  Kalman Filtering: Theory and Practice Using MATLAB , 2001 .

[26]  Kutluyil Dogançay,et al.  Distributed path optimization of multiple UAVs for AOA target localization , 2016, 2016 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP).

[27]  Seyyed Ali Asghar Shahidian,et al.  Optimal trajectories for two UAVs in localization of multiple RF sources , 2016 .

[28]  Yaakov Bar-Shalom,et al.  Multitarget/Multisensor Tracking: Applications and Advances -- Volume III , 2000 .

[29]  Kutluyil Dogançay,et al.  Single- and multi-platform constrained sensor path optimization for angle-of-arrival target tracking , 2010, 2010 18th European Signal Processing Conference.

[30]  Magdi S. Mahmoud,et al.  Distributed Kalman filtering: a bibliographic review , 2013 .

[31]  A. Weiss,et al.  Performance analysis of bearing-only target location algorithms , 1992 .

[32]  Soummya Kar,et al.  Distributed Consensus Algorithms in Sensor Networks With Imperfect Communication: Link Failures and Channel Noise , 2007, IEEE Transactions on Signal Processing.

[33]  Kutluyil Dogançay,et al.  3D pseudolinear Kalman filter with own-ship path optimization for AOA target tracking , 2016, 2016 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP).

[34]  K. Gong,et al.  Position and Velocity Estimation Via Bearing Observations , 1978, IEEE Transactions on Aerospace and Electronic Systems.

[35]  V S Chernyak,et al.  Fundamentals of Multisite Radar Systems : Multistatic Radars and Multistatic Radar Systems , 2018 .

[36]  Jan A Snyman,et al.  Practical Mathematical Optimization: An Introduction to Basic Optimization Theory and Classical and New Gradient-Based Algorithms , 2005 .

[37]  Reza Olfati-Saber,et al.  Distributed Kalman filtering for sensor networks , 2007, 2007 46th IEEE Conference on Decision and Control.