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This paper investigates the problem of traffic surveillance using an unmannedaerial vehicle (UAV) and proposes a domain-knowledge-aided airborne groundmoving targets tracking algorithm. To improve the accuracy of multiple targetstracking, the proposed algorithm incorporates domain knowledge into the jointprobabilistic data association (JPDA) filter as state constraints. The domainknowledge considered in this paper includes both road information extractedfrom a given map and local traffic regulations. Conventional track updatemethod is modified to enhance the capability of recognition of temporarilytrack loss. A variable structure multiple model (VS-MM) method is developed toassign the road segment to a given target. The effectiveness of proposedalgorithm is demonstrated through extensive numerical simulations.

Domain-Knowledge-Aided Airborne Ground Moving Targets Tracking