Trajectory Design for Target Localization by UAV with Bearing-Only Sensor

摘要：

　　This paper studies the target localization problem by UAV equipped with bearing-only sensor for better estimation performance.An UAV measures a stationary target position by following the trajectory to be designed in this paper.Since bearing-only sensor provides angle information only,relative range information cannot be obtained in static situation.To obtain sufficient observability,the UAV trajectory should be designed with careful consideration on observability.To design such trajectory,geometrical observability analysis is performed and corresponding optimal heading angle maneuver of the UAV is derived analytically.Maneuver range constraint is introduced to consider maneuverability of the UAV.Simulation of the estimator is also presented to verify the designed trajectory.

关键词： Bearing-only sensor Observability anaiysis Target Localization

作者: Jaehwan Pi Hyochoong Bang

作者单位: Department of Aerospace Engineering,Korea Advanced Institute of Science and Technology,Daejeon,Republic of Korea

会议类型: 国际会议

会议名称: 2014 Asia-Pacific International Symposium on Aerospace Technology(2014亚太航空航天技术学术会议)

会议地点: 上海

会议语种:英文

页码: 1-5

在线出版日期: 2014-09-24（万方平台首次上网日期，不代表论文的发表时间）