Abstract
In this paper, a distributed nonlinear estimation scheme is proposed for target tracking with a team of UAVs. The maneuvering target is modeled as a jump Markov nonlinear system and the interacting multiple model approach is employed based on the integration of a new high degree cubature information filter with the consensus algorithm. Each UAV only communicates with its neighbors and the fusion of the estimates is achieved by the distributed information filtering and the consensus process. In addition to the advantages of the distributed tracking, the proposed scheme is able to achieve higher estimation accuracy than the unscented information filter.
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