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Vision-Based Target Motion Estimation of Multiple Air Vehicles Using Unscented Information Filter
Kwangyul Baek,Hyochoong Bang 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper presents target motion estimation for multiple air vehicles. The motion of the airborne target is estimated by vision information from camera sensors fixed to the followers. Each camera sensors provides information of the target by three angles: an azimuth angle, an elevation angle, and a subtended angle. In the frame work of information filter, each follower estimates position, velocity and size of the target while communicating own information with other vehicles. The information filter is suitable for decentralized multiple sensor estimation. Due to nonlinear characteristic of vision-based estimation problem, an unscented information filter is applied to target motion estimator. The unscented information filter provides the accuracy and robustness by embedding the unscented transform of the sigma point filter into the frame work of the information filter. The local filter propagates the target state and covariance through a statistical linear error propagation and updates by linear combination of the local information contribution terms. The simulation results demonstrate the performance of the proposed target motion estimator using the unscented information filtering of the three followers.
ADS-B based Trajectory Prediction and Conflict Detection for Air Traffic Management
Kwangyul Baek,Hyochoong Bang 한국항공우주학회 2012 International Journal of Aeronautical and Space Sc Vol.13 No.3
The Automatic Dependent Surveillance Broadcast (ADS-B) system is a key component of CNS/ATM recommended by the International Civil Aviation Organization (ICAO) as the next generation air traffic control system. ADS-B broadcasts identification, positional data, and operation information of an aircraft to other aircraft, ground vehicles and ground stations in the nearby region. This paper explores the ADS-B based trajectory prediction and the conflict detection algorithm. The multiple-model based trajectory prediction algorithm leads accurate predicted conflict probability at a future forecast time. We propose an efficient and accurate algorithm to calculate conflict probability based on approximation of the conflict zone by a set of blocks. The performance of proposed algorithms is demonstrated by a numerical simulation of two aircraft encounter scenarios.