Loughborough University
Leicestershire, UK
LE11 3TU
+44 (0)1509 263171
Loughborough University

Loughborough University Institutional Repository

Please use this identifier to cite or link to this item: https://dspace.lboro.ac.uk/2134/22097

Title: Situation awareness for UAV operating in terminal areas using bearing-only observations and circuit flight rules
Authors: Coombes, Matthew
Liu, Cunjia
Chen, Wen-Hua
Issue Date: 2016
Publisher: IEEE / © American Automatic Control Council (AACC)
Citation: 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.
Abstract: Situation 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.
Description: 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.
Version: Accepted for publication
DOI: 10.1109/ACC.2016.7524960
URI: https://dspace.lboro.ac.uk/2134/22097
Publisher Link: http://dx.doi.org/10.1109/ACC.2016.7524960
ISBN: 9781467386821
ISSN: 2378-5861
Appears in Collections:Published Articles (Aeronautical and Automotive Engineering)

Files associated with this item:

File Description SizeFormat
BrngOnlyACCIEEE.pdfAccepted version333.59 kBAdobe PDFView/Open


SFX Query

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.