Optimal fusion of onboard optoelectronic system and radio ranging for estimating the motion parameters of a small UAV

Аuthors

Detkov A. N.

State Institute of Aviation Systems, 7, Victorenko str., Moscow, 125319, Russia

e-mail: detkov@gosniias.ru

Abstract

Using methods of Markov theory for random process estimation, the problem of synthesizing optimal and quasi-optimal algorithms for the complex processing of information from an onboard optoelectronic technical vision system and a miniature radar rangefinder of an UAV – a controlled object – is solved. This is done considering the tasks involved in guiding the UAV towards a maneuvering, small-sized unmanned aerial vehicle – an aerial target. The initial mathematical models for the state and observation of the relative motion parameters between the UAV and the aerial target, as well as the motion model of the aerial target with different types of maneuvers, have been selected and justified. An equivalent discrete representation of continuous state-space models has been obtained, which is exact in the sense that it allows for the generation of random processes with the same statistical characteristics as the original continuous state-space models, without approximation errors. The problem is solved for a discrete-continuous Markov process, where its continuous part represents a vector Markov sequence of phase coordinates of the relative motion between the UAV and the aerial target, and its discrete part is a discrete Markov process characterizing the aerial target's maneuvers. The peculiarity of the synthesized quasi-optimal fusion algorithm is demonstrated, which lies in the inseparable connection between the filtering and extrapolation equations of the discrete and continuous components of the discrete-continuous Markov process. The operability of the quasi-optimal algorithm in conditions of continuous tracking of an intensely maneuvering aerial target is shown through a simple example using simulation modeling.

Keywords:

UAV; maneuvering aerial target; electro-optical vision system; miniature radar rangefinder; optimal and quasi-optimal algorithms for integrated information processing

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