Tracking Architectures and Algorithms based on Cooperative and Non-Cooperative Sensors for Multiple UAV Applications

The increasing usage of Unmanned Aircraft Systems (UAS), together with the development of new sensors and miniaturized technologies, allows the employment of multiple UAS to perform some tasks impracticable for manned aircraft or for a single Unmanned Aerial Vehicle (UAV). In these multi-UAV architectures, proper tracking algorithms, based on the fusion of information coming from non-cooperative (i.e., cameras and radar), and cooperative sensors (i.e., Automatic Dependent Surveillance – Broadcast, ADS-B), are needed for providing the required situational awareness. This paper discusses research activities that are being carried out within this framework. In particular, after a general discussion about advantages and drawbacks of non cooperative and cooperative sensors, a detailed description of a multi ADS-B track management algorithm, and first preliminary numerical results, are provided.