{"title":"3D target tracking by UAVs subject to measurement uncertainties","authors":"K. Subbarao, M. Ahmed","doi":"10.1109/CCA.2011.6044399","DOIUrl":null,"url":null,"abstract":"This paper proposes an Extended Kalman Filter (EKF) based approach to track a moving target UAV in 3D. The state of the target UAV is estimated from the range, azimuth, and elevation angle measurements that are assumed to be available from a ground based sensor or from on-board seeker antenna. The chaser vehicle states are also estimated using onboard sensors, namely GPS + IMU. These estimated states (chaser and the target) are utilized in a nonlinear guidance law which provides signals for the velocity, flight path, and course/heading angle to the chaser so as to track the target vehicle. It is to be mentioned that the guidance controller onboard the chaser was designed based on a backstepping like technique. All process and measurement noise are modelled as zero-mean Gaussian processes with known covariances. The performance of the combined estimation and guidance algorithm is shown via extensive simulation.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 IEEE International Conference on Control Applications (CCA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCA.2011.6044399","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5
Abstract
This paper proposes an Extended Kalman Filter (EKF) based approach to track a moving target UAV in 3D. The state of the target UAV is estimated from the range, azimuth, and elevation angle measurements that are assumed to be available from a ground based sensor or from on-board seeker antenna. The chaser vehicle states are also estimated using onboard sensors, namely GPS + IMU. These estimated states (chaser and the target) are utilized in a nonlinear guidance law which provides signals for the velocity, flight path, and course/heading angle to the chaser so as to track the target vehicle. It is to be mentioned that the guidance controller onboard the chaser was designed based on a backstepping like technique. All process and measurement noise are modelled as zero-mean Gaussian processes with known covariances. The performance of the combined estimation and guidance algorithm is shown via extensive simulation.