Multi-UAV Doppler information fusion for target tracking based on distributed high degrees information filters

Multi-Unmanned Aerial Vehicle (UAV) Doppler-based target tracking has not been widely investigated, specifically when using modern nonlinear information filters. A high-degree Gauss–Hermite information filter, as well as a seventh-degree cubature information filter (CIF), is developed to improve the fifth-degree and third-degree CIFs proposed in the most recent related literature. These algorithms are applied to maneuvering target tracking based on Radar Doppler range/range rate signals. To achieve this purpose, different measurement models such as range-only, range rate, and bearing-only tracking are used in the simulations. In this paper, the mobile sensor target tracking problem is addressed and solved by a higher-degree class of quadrature information filters (HQIFs). A centralized fusion architecture based on distributed information filtering is proposed, and yielded excellent results. Three high dynamic UAVs are simulated with synchronized Doppler measurement broadcasted in parallel channels to the control center for global information fusion. Interesting results are obtained, with the superiority of certain classes of higher-degree quadrature information filters.

Mots clés

target tracking; Kalman filtering; multi-sensor fusion; information fusion; high-degree cubature; Gauss–Hermite quadrature; Doppler shift; multi-UAV