{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,23]],"date-time":"2026-02-23T10:19:07Z","timestamp":1771841947648,"version":"3.50.1"},"reference-count":28,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2022,3,11]],"date-time":"2022-03-11T00:00:00Z","timestamp":1646956800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IJGI"],"abstract":"<jats:p>This paper proposes an approach of target tracking of a ground target for UAVs using Optimal Two-Stage Cubature Kalman Filter and Improved Coordinated Lateral Guidance Law. Firstly, the Optimal Two-Stage Cubature Kalman Filter (OTSCKF) is proposed to estimate the target motion. The OTSCKF combines two-stage filtering technology with CKF to improve the estimation accuracy. Secondly, to keep a constant distance between the UAV and the target, a new guidance law based on the lateral turning equation is proposed and its asymptotic stability is proven. On this basis, a distributed tracking algorithm is designed to balance the phase difference and achieve cooperation among multi-UAVs. Thirdly, numerical experiments are performed for the tracking problems of moving targets and the results verify the effectiveness of the proposed guidance algorithm.<\/jats:p>","DOI":"10.3390\/ijgi11030188","type":"journal-article","created":{"date-parts":[[2022,3,11]],"date-time":"2022-03-11T12:58:36Z","timestamp":1647003516000},"page":"188","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Unmanned Aerial Vehicle Target Tracking Based on OTSCKF and Improved Coordinated Lateral Guidance Law"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4224-8421","authenticated-orcid":false,"given":"Wei","family":"Jiang","sequence":"first","affiliation":[{"name":"School of Automation, Northwestern Polytechnical University, 1 Dongxiang Road, Chang\u2019an District, Xi\u2019an 710129, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8912-3418","authenticated-orcid":false,"given":"Yongxi","family":"Lyu","sequence":"additional","affiliation":[{"name":"School of Automation, Northwestern Polytechnical University, 1 Dongxiang Road, Chang\u2019an District, Xi\u2019an 710129, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5700-2638","authenticated-orcid":false,"given":"Jingping","family":"Shi","sequence":"additional","affiliation":[{"name":"Shaanxi Province Key Laboratory of Flight Control and Simulation Technology, 1 Dongxiang Road, Chang\u2019an District, Xi\u2019an 710129, China"}]}],"member":"1968","published-online":{"date-parts":[[2022,3,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Ogren, P., Backlund, A., Harryson, T., Kristensson, L., and Stensson, P. 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