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浙江大学学报(工学版)
J4  2010, Vol. 44 Issue (1): 118-123    DOI: 10.3785/j.issn.1008-973X.2010.01.021
电子、通信与自动控制技术     
未知环境中无人机适航地图构建与地面目标跟踪
谢斌,张开石,潘华东,项志宇
（浙江大学 信息与电子工程学系,浙江 杭州 310027）
Hospitability map building and ground target tracking with UAV under unknown environments
XIE Bin, ZHANG Kai-shi, PAN Hua-dong, XIANG Zhi-yu
(Department of Information Science and Electronic Engineering, Zhejiang University, Hangzhou 310027, China)
 全文: PDF 
摘要：

提出一种无人机在未知环境中通过D-S证据理论构建目标适航地图,并结合适航地图和贝叶斯非线性滤波方法进行目标跟踪的算法.为解决观测间隔时间可能较长的问题,基于FPKE和适航地图来预测目标位置概率分布的时间演进；在量测更新时充分考虑无人机的观测视野,将未观测到目标应用于目标位置概率分布的量测更新.仿真结果表明,该算法能够有效提高无人机在未知环境中跟踪地面目标的准确性.
关键词： 无人机;  适航地图;  D-S证据理论;  目标跟踪    
Abstract:

Hospitability map was built based on D-S evidence theory for unmanned aerial vehicle (UAV) under unknown environments. A generic multi-sensor fusion algorithm for track maintenance with UAV based on the Bayesian nonlinear filtering method and the hospitability map was proposed. To be adaptive to the fact that significant time interval may arise between consecutive detections of the same target, the track prediction was achieved based on the Fokker-Planck-Kolmogorov equation and the hospitability map. Meanwhile,the possibility of not detecting object was taken into account to deal with the footprint effect in measurement updating. Simulation demonstrates the feasibility of the proposed algorithm, which effectively improve the accuracy of the target tracking under unknown environments．
Key words: UAV    hospitability map    D-S evidence theory    target tracking
出版日期: 2010-02-04
:  TP 13  
基金资助:

国家自然科学基金资助项目（60505017，10577017）.
通讯作者: 项志宇，男，副教授.     E-mail: xiangzy@zju.edu.cn
作者简介: 谢斌（1983-），男，湖南长沙人，博士生，从事智能机器人及信号处理研究.
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引用本文:

谢斌, 张开石, 潘华东, 等. 未知环境中无人机适航地图构建与地面目标跟踪[J]. J4, 2010, 44(1): 118-123.

XIE Bin, ZHANG Kai-Dan, BO Hua-Dong, et al. Hospitability map building and ground target tracking with UAV under unknown environments. J4, 2010, 44(1): 118-123.

链接本文:

http://www.zjujournals.com/xueshu/eng/CN/10.3785/j.issn.1008-973X.2010.01.021    或    http://www.zjujournals.com/xueshu/eng/CN/Y2010/V44/I1/118

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