BrngOnlyACCIEEE.pdf (333.59 kB)
Situation awareness for UAV operating in terminal areas using bearing-only observations and circuit flight rules
conference contribution
posted on 2016-07-25, 14:57 authored by Matthew CoombesMatthew Coombes, Cunjia LiuCunjia Liu, Wen-Hua ChenWen-Hua ChenSituation awareness is required for an Unmanned Aerial Vehicle (UAV) when it makes an arrival at an uncontrolled airfield. Since no air traffic control service is available, the UAV needs to detect and track other traffic aircraft by using its onboard sensors. General aviation pilots obtain enough situation awareness to operate in these environments, only using their vision and radio messages heard from other traffic
aircraft. To improve the target tracking performance of a UAV, the circuit flight rules and standard radio messages are incorporated to provide extra knowledge about the target behaviour. This is achieved by using the multiple models to describe the target motions in different flight phases and
characterising the phase transition in a stochastic manner. Consequently, an interacting multiple model particle filter with state-dependent transition probabilities is developed to perform
Bayesian filtering with bearing-only observations from a vision sensor.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
The 2016 American Control ConferenceCitation
COOMBES, M., LIU, C. and CHEN, W-H., 2016. Situation awareness for UAV operating in terminal areas using bearing-only observations and circuit flight rules. IN: Proceedings of The 2016 American Control Conference, 6th-8th July, Boston, MA, pp. 479-485.Publisher
IEEE / © American Automatic Control Council (AACC)Version
- AM (Accepted Manuscript)
Acceptance date
2016-01-31Publication date
2016Notes
Published by IEEE © 2016 AACC. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.ISBN
9781467386821ISSN
2378-5861Publisher version
Language
- en