Dynamic based trajectory estimation and tracking in an uncertain environment

摘要

This paper develops smoothing data association based on integrated probabilistic data association (FLIPDA-S) tracker to identify a multicopter UAV (MUAV) and estimate its trajectory in an uncertain and cluttered environment. Recently, a number of unidentified MUAVs have been flown in prohibited airspace and a radar system has been utilized to identify the MUAV and track the trajectory. However, target tracking methods could have difficulties to track the target MUAV through randomly distributed and moving objects. The vehicle state estimation (VSE) algorithm, which utilize FLIPDA-S in this paper, adopts UAV kinematics and dynamics for tracking a UAV in clutter and false targets with significant UAV identification performance. The performance of the method has been validated with and without an initial position of the target MUAV. Both numerical simulation and experiments are demonstrated to verify the effectiveness and accuracy of FLIPDA-S with VSE algorithm to track UAVs in an uncertain and clutter environment.