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题名: On- Line Cooperative Observation Based on ESMF in Three- Dimensional Enviroments
作者: Gu F(谷丰) ; He YQ(何玉庆) ; Qi JT(齐俊桐) ; Han JD(韩建达) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: 2009 AIAA Guidance, Navigation, and Control Conference
会议日期: August 10-13, 2009
会议地点: Chicago, Illinois
会议主办者: AIAA
会议录: AIAA Guidance, Navigation, and Control Conference Proceedings. 2009
会议录出版者: AIAA
出版日期: 2009
页码: AIAA 2009-6224
摘要: In this paper, a new multiple unmanned aerial vehicles (UAVs) cooperative observation approach, based on extended set-membership filter (ESMF), is proposed to track a moving target in 3D environments. Instead of applying extra method to fuse the estimation of each UAV, the new method just uses the ESMF to fuse observation result which is estimated by each UAV, i.e. combining the fusion and estimation method together. So it needs less data processing than some previous methods, which makes it very suitable to the fast applications. Due to the only information to be transmitted between the main UAV and accessorial UAV is the sensor measurement, the communication burden of this method is relatively light. Moreover, when intersecting the estimation result, the new method avoids approximation of estimation result so as to make sure the accuracy of the cooperative observation result. Finally, the simulations in 3D environments are conducted to verify the feasibility and validity of the method and they show the higher accuracy and faster convergence speed of this method.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8817
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
谷丰; 何玉庆; 齐俊桐; 韩建达; 王越超.On- Line Cooperative Observation Based on ESMF in Three- Dimensional Enviroments.见:AIAA .AIAA Guidance, Navigation, and Control Conference Proceedings. 2009,,2009,AIAA 2009-6224
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