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Robust Moving Target Handoff in GPS-Denied Environments

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posted on 29.06.2021, 20:16 by Randal BeardRandal Beard, Skyler Tolman, Devon Morris, Cameron K. Peterson, Riten Gupta
Unmanned aerial systems (UAS) are effective for surveillance and monitoring, but struggle with persistent, longterm tracking due to limited flight time. Persistent tracking can be accomplished using multiple vehicles if one vehicle can effectively hand off the tracking information to another replacement vehicle. In this paper we propose a solution to the moving-target handoff problem in the absence of GPS. The proposed solution uses a nonlinear complimentary filter for self-pose estimation using only an IMU, a particle filter for relative pose estimation between UAS using a relative range measurement, visual target tracking using a gimballed camera when the target is close to the handoff UAS, and track correlation logic using Procrustes analysis to perform the final target handoff between vehicles. We present extensive simulation results that demonstrates the effectiveness of our approach and perform Monte-Carlo simulations that indicate a 97% successful handoff rate using the proposed methods.

Funding

NSF IIP-1161036

Air Force FA8650-15-M-1941

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Email Address of Submitting Author

beard@byu.edu

ORCID of Submitting Author

0000-0002-2548-5329

Submitting Author's Institution

Brigham Young University

Submitting Author's Country

United States of America

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