Distributed Estimation Approach for Tracking a Mobile Target via Formation of UAVs
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Journal Title
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Volume Title
A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä
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Date
2022-10
Major/Subject
Mcode
Degree programme
Language
en
Pages
12
1-12
1-12
Series
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
Abstract
This paper considers distributed estimation methods to enable the formation of Unmanned-Aerial-Vehicles (UAVs) that track a moving target. The UAVs (or agents) are equipped with communication devices to receive a beacon signal from the target and share information with neighboring UAVs. The shared information includes the time-of-arrival (TOA) of the beacon signal from the target and estimates on the target's location. Every UAV processes the received information from the neighbors using a single-time-scale distributed estimation protocol. This differs from multi-time-scale protocols that require (i) many consensus iterations on a-priori estimates, (ii) fast communication among agents (in general, much faster than the sampling rate of the target dynamics), and thus, more-costly communication equipment and processing units. Further, our approach outperforms most single-time-scale methods in terms of observability assumption as these methods assume that the target is observable via the measurement data received from neighboring UAVs (referred to as local-observability). This requires more communications among the sensors. In contrast, our approach is only based on global-observability assumption, and thus, requires less networking (only strong-connectivity) and communication traffic along with less computational load by data-processing once at the same time-scale of sampling target dynamics. We consider modified time-difference-of-arrival (TDOA) measurements with a constant output matrix for the linearized model. UAVs make a pre-specified formation, and by estimating the target's location via these measurements, move along with the target.Description
Tallennetaan OA-artikkeli, kun julkaistu
Keywords
Target tracking, Estimation, Sensors, Protocols, Observability, Drones, Computational modeling
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Citation
Doostmohammadian, M, Taghieh, A & Zarrabi, H 2022, ' Distributed Estimation Approach for Tracking a Mobile Target via Formation of UAVs ', IEEE Transactions on Automation Science and Engineering, vol. 19, no. 4, 9662276, pp. 3765-3776 . https://doi.org/10.1109/TASE.2021.3135834
