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Drone Tracking Using an Innovative UKF

Abstract : This paper addresses the drone tracking problem, using a model based on the Frenet-Serret frame. A kinematic model in 2D, representing intrinsic coordinates of the drone is used. The tracking problem is tackled using two recent filtering methods. On the one hand, the Invariant Extended Kalman Filter (IEKF), introduced in [1] is tested, and on the other hand, the second step of the filtering algorithm, i.e. the update step of the IEKF is replaced by the update step of the Unscented Kalman Filter (UKF), introduced in [2]. These two filters are compared to the well known Extended Kalman Filter. The estimation precision of all three algorithms are computed on a real drone tracking problem.
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https://hal-mines-paristech.archives-ouvertes.fr/hal-01692469
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Submitted on : Thursday, January 25, 2018 - 10:56:54 AM
Last modification on : Thursday, September 24, 2020 - 5:04:02 PM
Long-term archiving on: : Thursday, May 24, 2018 - 9:49:10 PM

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  • HAL Id : hal-01692469, version 1

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Marion Pilté, Silvere Bonnabel, Frédéric Barbaresco. Drone Tracking Using an Innovative UKF. 3rd conference on Geometric Science of Information (GSI 2017), Nov 2017, Paris, France. ⟨hal-01692469⟩

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