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UAV Tracking with Solid-State Lidars: Dynamic Multi-Frequency Scan Integration




TekijätCatalano Iacopo, Sier Ha, Yu Xianjia, Westerlund Tomi, Peña Queralta Jorge

ToimittajaN/A

Konferenssin vakiintunut nimiInternational Conference on Advanced Robotics

Julkaisuvuosi2023

Kokoomateoksen nimi2023 21st International Conference on Advanced Robotics (ICAR)

Aloitussivu417

Lopetussivu424

ISBN979-8-3503-4230-7

eISBN979-8-3503-4229-1

DOIhttps://doi.org/10.1109/ICAR58858.2023.10406884

Verkko-osoitehttps://ieeexplore.ieee.org/document/10406884

Rinnakkaistallenteen osoitehttps://research.utu.fi/converis/portal/detail/Publication/182011763


Tiivistelmä

With the increasing use of drones across various industries, the navigation and tracking of these unmanned aerial vehicles (UAVs) in challenging environments (such as GNSS-denied environments) have become critical issues. In this paper, we propose a novel method for a ground-based UAV tracking system using a solid-state LiDAR, which dynamically adjusts the LiDAR frame integration time based on the distance to the UAV and its speed. Our method fuses two simultaneous scan integration frequencies for high accuracy and persistent tracking, enabling reliable estimates of the UAV state even in challenging scenarios. The use of the Inverse Covariance Intersection method and Kalman filters allow for better tracking accuracy and can handle challenging tracking scenarios. We have performed a number of experiments for evaluating the performance of the proposed tracking system and identifying its limitations. Our experimental results demonstrate that the proposed method achieves comparable tracking performance to the established baseline method, while also providing more reliable and accurate tracking when only one of the frequencies is available or unreliable.


Ladattava julkaisu

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Last updated on 2025-27-03 at 22:05