A Fusion Estimation Method for Multi-UAV Geosynchronous Target Perception
Junyi Liu, Jin Xiong, Yifeng Niu, Jie Li · 2018
This paper presents a study of the error model based on image perception and target positioning. The interactive multi-model unscented Kalman filter algorithm for single-UAV target perception and the federated filter algorithm for multi-UAV fusion are used to achieve multi-UAV positioning fusion. Considering the effective performance of the filtering algorithm, the adaptive motion model and fusion feedback factors are established. The effectiveness of the algorithm is verified by experimental results.