Optimal cooperative sensing using a team of UAVs

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We investigate the joint optimal estimation of both the position and velocity of a ground moving target (GMT) using pulse Doppler radars on-board unmanned aerial vehicles (UAVs). The problem of cooperative estimation using a UAV team and the optimization of the team's configuration to achieve optimal GMT position and velocity estimates is addressed. Based on the Cramér-Rao bound, the minimum achievable error variance of the GMT position and velocity estimates is derived. The expression of the minimum achievable estimation error variance for unbiased estimation provided by the Cramér-Rao bound is minimized yielding the optimal configuration of the UAV team. Our solution is complete in that it addresses various GMT tracking scenarios and an arbitrary number of UAVs. Optimal sensor geometries for typical applications are illustrated. © 2006 IEEE.

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IEEE Transactions on Aerospace and Electronic Systems

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