The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
Copyrights notice
The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
공중 시각 추적 플랫폼을 갖춘 두 대의 무인 항공기(UAV)의 협력을 통한 정찰 모드는 표적 위치를 파악하기 위한 일반적인 관행입니다. 센서의 무작위 소음 외에도 위치 파악 성능은 협력 궤적에 크게 좌우됩니다. 이전 연구에서 우리는 EKF 기반 방법보다 더 나은 것으로 입증된 협력적 궤도 생성 방법을 제안했습니다. 이 편지에서는 이전 방법을 향상시키기 위해 향상된 온라인 궤적 생성 방법을 제안합니다. 첫째, 최소 제곱 추정 방법은 이전 연구에서 제안한 최소 제곱 방법보다 더 나은 추정 성능을 얻을 수 있는 기하학적 최적화 기반 추정 방법으로 대체되었습니다. 둘째, 궤도 최적화 단계에서는 추정 방법으로 인한 위치 오류도 고려되어 두 UAV의 다음 웨이 포인트의 최적화 성능을 더욱 향상시킬 수 있습니다. 개선된 방법은 기업 목표 위치 파악을 위한 2개의 UAV 궤도 계획에 잘 적용될 수 있으며, 시뮬레이션 결과는 개선된 방법이 이전 방법 및 EKF 기반 방법보다 분명히 더 나은 위치 파악 성능을 달성한다는 것을 확인합니다.
Dongzhen WANG
Nanjing University of Aeronautics and Astronautics
Daqing HUANG
Nanjing University of Aeronautics and Astronautics
Cheng XU
Nanjing University of Aeronautics and Astronautics
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부
Dongzhen WANG, Daqing HUANG, Cheng XU, "An Improved Method for Two-UAV Trajectory Planning for Cooperative Target Locating Based on Airborne Visual Tracking Platform" in IEICE TRANSACTIONS on Information,
vol. E104-D, no. 7, pp. 1049-1053, July 2021, doi: 10.1587/transinf.2020EDL8139.
Abstract: The reconnaissance mode with the cooperation of two unmanned aerial vehicles (UAVs) equipped with airborne visual tracking platforms is a common practice for localizing a target. Apart from the random noises from sensors, the localization performance is much dependent on their cooperative trajectories. In our previous work, we have proposed a cooperative trajectory generating method that proves better than EKF based method. In this letter, an improved online trajectory generating method is proposed to enhance the previous one. First, the least square estimation method has been replaced with a geometric-optimization based estimation method, which can obtain a better estimation performance than the least square method proposed in our previous work; second, in the trajectory optimization phase, the position error caused by estimation method is also considered, which can further improve the optimization performance of the next way points of the two UAVs. The improved method can well be applied to the two-UAV trajectory planning for corporative target localization, and the simulation results confirm that the improved method achieves an obviously better localization performance than our previous method and the EKF-based method.
URL: https://global.ieice.org/en_transactions/information/10.1587/transinf.2020EDL8139/_p
부
@ARTICLE{e104-d_7_1049,
author={Dongzhen WANG, Daqing HUANG, Cheng XU, },
journal={IEICE TRANSACTIONS on Information},
title={An Improved Method for Two-UAV Trajectory Planning for Cooperative Target Locating Based on Airborne Visual Tracking Platform},
year={2021},
volume={E104-D},
number={7},
pages={1049-1053},
abstract={The reconnaissance mode with the cooperation of two unmanned aerial vehicles (UAVs) equipped with airborne visual tracking platforms is a common practice for localizing a target. Apart from the random noises from sensors, the localization performance is much dependent on their cooperative trajectories. In our previous work, we have proposed a cooperative trajectory generating method that proves better than EKF based method. In this letter, an improved online trajectory generating method is proposed to enhance the previous one. First, the least square estimation method has been replaced with a geometric-optimization based estimation method, which can obtain a better estimation performance than the least square method proposed in our previous work; second, in the trajectory optimization phase, the position error caused by estimation method is also considered, which can further improve the optimization performance of the next way points of the two UAVs. The improved method can well be applied to the two-UAV trajectory planning for corporative target localization, and the simulation results confirm that the improved method achieves an obviously better localization performance than our previous method and the EKF-based method.},
keywords={},
doi={10.1587/transinf.2020EDL8139},
ISSN={1745-1361},
month={July},}
부
TY - JOUR
TI - An Improved Method for Two-UAV Trajectory Planning for Cooperative Target Locating Based on Airborne Visual Tracking Platform
T2 - IEICE TRANSACTIONS on Information
SP - 1049
EP - 1053
AU - Dongzhen WANG
AU - Daqing HUANG
AU - Cheng XU
PY - 2021
DO - 10.1587/transinf.2020EDL8139
JO - IEICE TRANSACTIONS on Information
SN - 1745-1361
VL - E104-D
IS - 7
JA - IEICE TRANSACTIONS on Information
Y1 - July 2021
AB - The reconnaissance mode with the cooperation of two unmanned aerial vehicles (UAVs) equipped with airborne visual tracking platforms is a common practice for localizing a target. Apart from the random noises from sensors, the localization performance is much dependent on their cooperative trajectories. In our previous work, we have proposed a cooperative trajectory generating method that proves better than EKF based method. In this letter, an improved online trajectory generating method is proposed to enhance the previous one. First, the least square estimation method has been replaced with a geometric-optimization based estimation method, which can obtain a better estimation performance than the least square method proposed in our previous work; second, in the trajectory optimization phase, the position error caused by estimation method is also considered, which can further improve the optimization performance of the next way points of the two UAVs. The improved method can well be applied to the two-UAV trajectory planning for corporative target localization, and the simulation results confirm that the improved method achieves an obviously better localization performance than our previous method and the EKF-based method.
ER -