Tracking of ground targets by quadrotor UAV based on UWB positioning technology

被引：0
|
作者：
Yan, JiaXin [1 ]
Yang, XiaoFei [1 ]
Meng, ZiHan [1 ]
Wang, YuLong [2 ,3 ]
机构：
[1] Jiangsu Univ Sci & Technol, Sch Elect & Informat, Zhenjiang, Jiangsu, Peoples R China
[2] Shanghai Univ, Shanghai Key Lab Power Stn Automat Technol, Shanghai, Peoples R China
[3] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai, Peoples R China
来源：
2019 IEEE 28TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE) | 2019年
关键词：
Unmanned Aerial Vehicle; target tracking; UWB; indoor positioning; Backstepping control; FILTER;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
For UAV indoor ground target tracking problem, a new scheme based on Ultra-Wide Band (UWB) indoor positioning technology is presented. Firstly, the dynamic models of the quadrotor and maneuvering target are established. Secondly, target position measurements can be obtained by UWB indoor positioning technology. Thirdly, the Extended Kalman Filter (EKF) is adopted to estimate the target state information. Based on artificial potential field theory, an improved motion planning algorithm is also presented. At last the Backstepping control strategy is utilized to promote UAV tracking accuracy of trajectory. Simulation results show that the scheme can achieve good performance in UAV indoor ground target tracking.
引用
收藏
页码：676 / 681
页数：6
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