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

Hamza Benzerrouk, Alexander Nebylov and Meng Li

Article (2018)

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Cite this document: Benzerrouk, H., Nebylov, A. & Li, M. (2018). Multi-UAV Doppler information fusion for target tracking based on distributed high degrees information filters. Aerospace, 5(1), p. 1-21. doi:10.3390/aerospace5010028
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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.

Uncontrolled Keywords

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

Open Access document in PolyPublie
Subjects: 2500 Génie électrique et électronique > 2500 Génie électrique et électronique
Department: Département de génie électrique
Research Center: Non applicable
Funders: Ministry of Education and Science of the Russian Federation, Russian Foundation for Basic Research, Russian Science Foundation, Postdoctoral Fellowship of the 10th GERAD competition
Grant number: 9.1559.2017, 18-08-00234, 16-19-10381
Date Deposited: 06 Mar 2020 13:54
Last Modified: 07 Mar 2020 01:20
PolyPublie URL: https://publications.polymtl.ca/3558/
Document issued by the official publisher
Journal Title: Aerospace (vol. 5, no. 1)
Publisher: MDPI
Official URL: https://doi.org/10.3390/aerospace5010028


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