The multi-UAVs cooperative observation and tracking considering communication interference and transmission loss

摘要

This paper presents the multi-UAVs cooperative target observation and tracking considering the communication interference and the propagation loss. UAVs are assigned to the appropriate target group which maximises information defined by the Fisher information matrix (FIM). We propose multi-UAVs cooperative target optimal measurement and tracking models considering the communication factors. Using the rolling horizon optimization method for optimal solution. The main contributions of this paper are threefold. Firstly, this paper proposes a new method of target tracking by considering the communication interference and the propagation loss. Secondly, UAVs are assigned to the appropriate target group which maximises information defined by the FIM. Lastly, using Information Consensus Filter (ICF) to solve the convergence problem and improve topology.