DocumentCode
1765996
Title
Nonlinear estimation of a maneuvering target with bounded acceleration using multiple mobile sensors
Author
Mingfeng Zhang ; Liu, Hugh H. T.
Author_Institution
Univ. of Toronto Toronto, Toronto, ON, Canada
Volume
51
Issue
2
fYear
2015
fDate
42095
Firstpage
1375
Lastpage
1385
Abstract
This paper proposes a cooperative nonlinear filter to estimate the states of a maneuvering target with unknown dynamics and bounded acceleration using multiple mobile sensors. The proposed filter is applied to a vision-based estimation task in which multiple unmanned aerial vehicles equipped with monocular cameras are employed to estimate the position and velocity of a maneuvering target. Its performance is validated through extensive numerical simulations.
Keywords
autonomous aerial vehicles; cameras; image motion analysis; nonlinear estimation; nonlinear filters; numerical analysis; sensor fusion; bounded acceleration; cooperative nonlinear filter; maneuvering target; monocular cameras; multiple mobile sensors; nonlinear estimation; numerical simulations; unmanned aerial vehicles; vision-based estimation task; Acceleration; Aerodynamics; Estimation error; Mobile communication; Observability; Sensors;
fLanguage
English
Journal_Title
Aerospace and Electronic Systems, IEEE Transactions on
Publisher
ieee
ISSN
0018-9251
Type
jour
DOI
10.1109/TAES.2014.120773
Filename
7126190
Link To Document