Obstacle Tracking Results: Cartesian vs. Spherical Particle Filter
Anna Elena Tirri, Domenico Accardo, Giancarmine Fasano, Antonio Moccia · 2012
This paper focuses on test results from an Airborne Obstacle Tracking system for Unmanned Aerial System (UAS) See and Avoid applications that is based on Particle Filtering algorithm. It performs data fusion of airborne forward looking radar and electro-optical camera by exploiting data gathered during a Sense and Avoid flight experiment at Italian Aerospace Research Centre (CIRA). The developed model resulted adequate for tracking aircraft trajectories, thus overcoming the non-gaussian and nonlinear form of the most widely adopted target dynamics models.