Title: Application of ellipsoidal approximation into target tracking for multi UAVs formation cooperative detection

Authors: Wang Jianhong; Meng He; Ricardo A. Ramirez-Mendoza

Addresses: School of Electronic and Automation, Jiangxi University of Science and Technology, Ganzhou, 341000, China ' School of Electronic and Automation, Jiangxi University of Science and Technology, Ganzhou, 341000, China ' School of Engineering and Sciences, Tecnologico de Monterrey, Monterrey, 64849, Mexico; School of Electronic and Automation, Jiangxi University of Science and Technology, Ganzhou, 341000, China

Abstract: This paper studies the ground target positioning and tracking algorithm for cooperative detection of multi unmanned aerial vehicles (UAVs) formation, and a real time and rapid algorithm is discussed based on UAV airborne electro-optical sensors. Firstly in case of known probabilistic distribution on noise, unscented Kalman filter algorithm is applied to estimate the unknown state for target tracking process. Secondly to relax the strict condition on white noise in Kalman filtering theory, the target tracking or state estimation are reduced to derive the inner and outer ellipsoidal approximations for the state in case of unknown but bounded noise. More general cases are studied with the number of the ellipsoids, and some alternative forms are derived to obtain the approximate outer and inner ellipsoidal approximations. Finally, one simulation example confirms our theoretical results.

Keywords: multi UAVs formation; cooperative detection; target tracking; ellipsoidal approximation; Kalman filter; state estimation; bounded noise; inner and outer.

DOI: 10.1504/IJMIC.2020.113712

International Journal of Modelling, Identification and Control, 2020 Vol.35 No.2, pp.108 - 119

Received: 27 Dec 2019
Accepted: 10 May 2020
Published online: 19 Mar 2021 *

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