A New Spatial Registration Algorithm of Aerial Moving Platform to Sea Target Tracking

Dai, Qiuyang; Lu, Fa-Xing; Wu, Ling

doi:10.2139/ssrn.4397071

2023

DOI: 10.2139/ssrn.4397071

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A New Spatial Registration Algorithm of Aerial Moving Platform to Sea Target Tracking

Qiuyang Dai

Fa-Xing Lu

Ling Wu

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A Novel Sea Target Tracking Algorithm for Multiple Unmanned Aerial Vehicles Considering Attitude Error in Low-Precision Geodetic Coordinate Environments

Dai,

Lu,

2024

Aerospace

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Geodetic coordinate information and attitude information of the observation platform are necessary for multi-UAV position alignment and target tracking. In a complex sea environment, the navigation equipment of a UAV is susceptible to interference. High-precision geodetic coordinate information and attitude information are difficult to obtain. Aiming to solve the above problems, a low-precision geodetic coordinate real-time systematic spatial registration algorithm based on multi-UAV observation and an improved robust fusion tracking algorithm of multi-UAV to sea targets considering attitude error are proposed. The spatial registration algorithm obtains the observation information of the same target based on the mutual observation information. Then, geodetic coordinate systematic error is accurately estimated by establishing the systematic error estimation measurement equation. The improved robust fusion tracking algorithm considers the influence of UAV attitude error in the observation. The simulation experiment and practical experiment show that the algorithm can not only estimate systematic error accurately but also improve tracking accuracy.

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A Novel Sea Target Tracking Algorithm for Multiple Unmanned Aerial Vehicles Considering Attitude Error in Low-Precision Geodetic Coordinate Environments

Dai,

Lu,

2024

Aerospace

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A Spatial Registration Method for Multi-UAVs Based on a Cooperative Platform in a Geodesic Coordinate Information-Free Environment

Dai,

Lu,

2023

Applied Sciences

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The satellite navigation system of Unmanned Aerial Vehicles (UAVs) is susceptible to external interference in a complex environment, resulting in the loss of their own geodetic coordinate information. A spatial registration method for multi-UAVs based on a cooperative platform in a geodesic coordinate information-free environment is proposed to solve this problem. The mutual observation information between UAVs is approximated by the observation information of the cooperative platform. Indirect observation information of the target can be obtained on account of mutual observation. On the basis of this, a close-range spatial registration algorithm without the geodetic coordinate information of UAVs is designed by means of the right-angle translation method. Finally, the Kalman filtering technique is used to track maritime targets. In this paper, the proposed method is verified by a simulation experiment and a practical experiment. The proposed method is 90% effective in reducing systematic errors. The tracking accuracy after alignment is significantly better than that of the original trajectory.

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A New Spatial Registration Algorithm of Aerial Moving Platform to Sea Target Tracking

Cited by 2 publications

References 0 publications

A Novel Sea Target Tracking Algorithm for Multiple Unmanned Aerial Vehicles Considering Attitude Error in Low-Precision Geodetic Coordinate Environments

A Novel Sea Target Tracking Algorithm for Multiple Unmanned Aerial Vehicles Considering Attitude Error in Low-Precision Geodetic Coordinate Environments

A Spatial Registration Method for Multi-UAVs Based on a Cooperative Platform in a Geodesic Coordinate Information-Free Environment

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