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Aerospace 2018, 5(1), 28; doi:10.3390/aerospace5010028

Multi-UAV Doppler Information Fusion for Target Tracking Based on Distributed High Degrees Information Filters

1
Department of Electrical Engineering, Polytechnique de Montréal, 2900 Boulevard Edouard-Montpetit, Montréal, QC H3T 1J4, Canada
2
Department of Aerospace Measuring and Computing Systems, Saint Petersburg State University of Aerospace Instrumentation, 67 Bolshaya Morskaya, Sankt-Peterburg 190000, Russia
*
Author to whom correspondence should be addressed.
Received: 1 January 2018 / Revised: 14 February 2018 / Accepted: 22 February 2018 / Published: 8 March 2018
(This article belongs to the Collection Unmanned Aerial Systems)
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Abstract

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. View Full-Text
Keywords: target tracking; Kalman filtering; multi-sensor fusion; information fusion; high-degree cubature; Gauss–Hermite quadrature; Doppler shift; multi-UAV target tracking; Kalman filtering; multi-sensor fusion; information fusion; high-degree cubature; Gauss–Hermite quadrature; Doppler shift; multi-UAV
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Benzerrouk, H.; Nebylov, A.; Li, M. Multi-UAV Doppler Information Fusion for Target Tracking Based on Distributed High Degrees Information Filters. Aerospace 2018, 5, 28.

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