|
|
|
| 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) |
|
|
|
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．
|
|
Published: 26 February 2010
|
|
|
未知环境中无人机适航地图构建与地面目标跟踪
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.
|
|
| ［1］ TANG Z, OZGUNER U. Sensor fusion for target track maintenance with multiple UAVs based on Bayesian filtering method and hospitability map ［C］∥ Proceedings of the 42nd IEEE Conference on Decision and Control. Maui, Hawaii: IEEE, 2003: 19-24．
［2］ BLOM H A P, BAR-SHALOM Y. The interacting multiple model algorithm for system with Markovian switching coefficients ［J］. IEEE Transactions on Automatic Control, 1988, 33(8): 780-783．
［3］ CHALLA S, BAR-SHALOM Y. Nonlinear filter design using Fokker-Planck-Kolmogorov probability density evolutions ［J］. IEEE Transactions on AES, 2000, 36(1): 309-315.
［4］ HONG L, CUI N, BAKICH M, et al. Multirate interacting multiple model particle filter for terrain-based ground target tracking ［J］. Control Theory Application, 2006, 153(6): 721-731．
［5］ HERRERO J G, BESADA PORTAS J A, CASAR CORREDERA J R. Use of map information for tracking targets on airport surface ［J］. IEEE Transactions on AES, 2003, 39(2): 675-693．
［6］ ULMKE M, KOCH W. Road-map assisted ground moving target tracking ［J］. IEEE Transactions on AES, 2006, 42(4): 1264-1274．
［7］ LAYNE J, EILDERS M, KASSAS Z, et al. A hospitability map approach for estimating a mobile target location ［M］∥ Recent Developments in Cooperative Control and Optimization. Norwell: Kluwer Academic Publishers, 2003: 117-124．
［8］ HUBER R. Information fusion from airborne InSAR observations ［C］∥ ASPRS Annual Meeting. Washington D.C.: ［s.n.］, 2000．
［9］ 刘纯平. 一种基于信息融合的多源遥感图像分类方法［J］.计算机应用, 2007, 27(8): 2004-2006．
LIU Chun-ping. Multisource image classification method based on information fusion in remote sensing ［J］. Computer Applications, 2007, 27(8): 2004-2006． |
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
| |
Shared |
|
|
|
|
| |
Discussed |
|
|
|
|
