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Multitarget, multisensor localization and tracking using passive antennas and optical sensors on UAVs

: Schikora, M.; Bender, D.; Koch, W.; Cremers, D.


Carapezza, E.M. ; Society of Photo-Optical Instrumentation Engineers -SPIE-, Bellingham/Wash.:
Unmanned/unattended sensors and sensor networks VII : 20 - 22 September 2010, Toulouse, France; Part of SPIE security + defence
Bellingham, WA: SPIE, 2010 (Proceedings of SPIE 7833)
ISBN: 978-0-8194-8351-5
Paper 783305
Unmanned/Unattended Sensors and Sensor Networks Conference <7, 2010, Toulouse>
Conference Paper
Fraunhofer FKIE

In this work we focus on the task to localize and track multiple non-cooperative targets by a passive antenna array and an optical sensor. Both sensor systems are mounted on a UAV and obtain bearing measurements from the targets, where the number of targets is unknown. To solve the localization and tracking problem, the imprecise but unique bearing data collected from the antenna array has to be correlated with the precise but ambiguous bearing data gained from the optical system. We perform this by a Monte Carlo realization of a multi-sensor probability hypothesis density (PHD) filter.