A Target Tracking Method Based on the Self-organizing Fuzzy Extended Kalman Filter for UAV

被引：0
作者：
Liu, Zhiyong [1 ]
Zhao, Yong [2 ]
Jin, Ying [1 ]
Wang, Yulu [1 ]
机构：
[1] Xian Yang Polytech Inst, Xian Yang 711200, Peoples R China
[2] Henan Polytech Univ, Sch Mech & Power Engn, Jiaozuo 454003, Peoples R China
来源：
CHIANG MAI JOURNAL OF SCIENCE | 2024年 / 51卷 / 05期
关键词：
self-organizing fuzzy system; extended Kalman filter(EKF); unmanned aerial vehicle (UAV); tracking and positioning;
D O I：
10.12982/CMJS.2024.073
中图分类号：
O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];
学科分类号：
07 ; 0710 ; 09 ;
摘要：
This paper proposed a novel approach based on integrated tracking and positioning for Unmanned Aerial Vehicle (UAV) systems. In the proposed scheme, a self-organizing fuzzy Extended Kalman Filter (EKF) system was studied to track the flight trajectory of an UAV. With this goal, the control model of the UAV system with the disturbances was established based on the dynamic equation firstly. Secondly, the self-organizing Fuzzy EKF system was designed to identify and estimate the errors of the UAV position adaptively. And then, the trajectory tracking control was determined for the UAV according to the obtained errors. Finally, the proposed strategy was applied to a UAV to demonstrate the effectiveness.
引用
收藏
页数：12
相关论文
共 30 条
  • [1] Ang H.S., Unmanned Syst. Technology, pp. 66-71, (2018)
  • [2] Li T.W., GPS Principle and Application, (2019)
  • [3] Daakir M., Pierrot D.M., Bosser P., ISPRS J. Photogramm, 127, 5, pp. 115-126, (2017)
  • [4] Grayson B., Penna N.T., Mills J.P., Photogramm. Rec, 33, 164, pp. 427-447, (2018)
  • [5] Russell J.S., Ye M.B., Anderson B.D.O., IEEE T. Aero. Elec. Sys, 3, 56, pp. 1-12, (2019)
  • [6] Weiss P., Engineering, 7, 3, pp. 290-303, (2021)
  • [7] Huang X.P., Principle and Application of Kalman filter-Matlab Simulation, (2017)
  • [8] Zhang H., (2004)
  • [9] Cilden-Guler D., Hajiyev C., Gyroscopy Navig, 14, 4, pp. 366-379, (2024)
  • [10] Fu C.B., Tian A.H., Zhang G.M., J. Chongqing Univ. Post. Telecommun. (Natural Science Edition), 29, 4, pp. 454-459, (2017)
123