This paper proposes a distributed positioning algorithm for a swarm of unmanned aerial vehicles (UAVs) to track multiple moving targets with bearing-only measurements. An approximate performance metric is first derived that can be used in position determination based on the properties of multisensor joint probabilistic data association (JPDA) filter. A fully distributed position planning algorithm using incremental optimization strategy is then proposed for tracking multiple moving targets. Simulation examples with comparison results validate the effectiveness of the proposed algorithm.
Distributed Unmanned Aerial Vehicle Positioning for Multitarget Tracking with Bearing-Only Information
Journal of Aerospace Information Systems ; 19 , 5 ; 355-365
2022-05-01
Article (Journal)
Electronic Resource
English
Multisensor-multitarget bearing-only sensor registration
IEEE | 2016
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