Target state estimation and prediction based standoff tracking of ground moving target using a fixed-wing UAV

摘要

To the problem of standoff Ground Moving Target Tracking using a fixed-wing UAV, a novel solving framework is presented, which based on target state estimation, prediction and on-line motion planning. First of all, a solving framework was presented, the formal representation and system model of standoff tracking using Fixed-wing UAV was established; next, the Unscented Kalman Filter was suggested for the estimation and prediction of the target state; then, with a predicted target state, a modified motion planning algorithm was presented, which based on Lyapunov vector field. Simulation results demonstrated that the performance of standoff target tracking was improved with regards to the estimated and predicted target state.