Mutual Sensor Task Assignment and Distributed Track Fusion Method for Multi-UAV Sensors

In order to realize the effective mutual sensor task assignment of multi-UAV radars and to make them work collaboratively and minimize the tracking error after the distributed Kalman filtering, we proposed an architecture of multi-UAV mutual sensor task assignment and tracking. The mutual task assignment model function is formulated based on the detection probability and the probability of assignment. The distributed Kalman filtering model between multi-UAV radars is formulated based on the basic frame of the distributed Kalman filter with certain optimization criteria. Simulation results illustrating the performance of the proposed methods are also presented, which proves that the effectiveness of proposed multiUAV radar sensor task assignment method.