Cooperative localization of marine targets by UAVs
| Autor: | Fariborz Saghafi, Sayyed Majid Esmailifar |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
020301 aerospace & aeronautics
0209 industrial biotechnology Engineering business.industry Mechanical Engineering Information sharing Aerospace Engineering Monte carlo filter Control engineering 02 engineering and technology Construct (python library) Filter (signal processing) Poor quality Computer Science Applications Nonlinear observability 020901 industrial engineering & automation 0203 mechanical engineering Control and Systems Engineering Signal Processing Fuse (electrical) Observability business Civil and Structural Engineering |
| Zdroj: | Mechanical Systems and Signal Processing. 87:23-42 |
| ISSN: | 0888-3270 |
| DOI: | 10.1016/j.ymssp.2016.08.027 |
| Popis: | The paper introduces a cooperative system to search for and localize targets by the use of low cost sensors. The system works based on collaboration of several decentralized, similar and self-organized components that are separately installed on flying vehicles. Interactions and information sharing between these flying vehicles construct a sensor and actuating network that cause the flying vehicles to search more intelligently and gather more efficient signals despite poor quality sensors. In each flying vehicle, a modified version of Monte-Carlo filter is implemented in order to fuse its own sensor measurements with the information received from the other vehicles and the priori of the targets to evolve into the posterior. The target posterior is then used to generate guidance points for the vehicle searching guidance law. The searching guidance law directs the vehicle through guidance points where the best measurements are available for an optimum search. Observability studies are performed to show that the developed system is able to extract the states of targets from measurements. In addition, numerical results by the use of an accurate simulation program, statistically show the performance of the developed system. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|
Full Text from ScienceDirect