Distributed fusion estimation algorithm for multi-UAVs cooperative sensing

To the problem of fusion estimation for coordinated unmanned aerial vehicles(UAVs),a method is presented.Based on unscented Kalman filter,distributed information filter and interacting multiple model,within a hierarchically distributed fusion architecture,an algorithm named interacting multiple model-distributed unscented information filter(IMMDUIF) is suggested,which takes important properties for estimating accuracy(unscented transform),robustness(interacting multiple model),and fusion ability(information).Simulation results show that the proposed method can significantly improve the fusion estimation performance of the multi-UAVs.