基于机动目标模型的无人机视场跟踪仿真研究  

Simulation of UAV Viewing Field Tracking Based on Maneuvering Target Model

作　　者：李文超[1] 袁冬莉[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710129

出　　处：《计算机测量与控制》2011年第2期402-404,408,共4页Computer Measurement &Control

基　　金：国家自然科学基金(60974146)

摘　　要：为了跟踪地面机动目标,对无人机的视场进行了研究;分析了视场中目标位置的解算以及飞机、目标与视场的运动关系,并建立了三者的相对位置关系模型,推导出视场对目标进行跟踪的控制量;简要介绍了机动目标的"当前"统计模型及其自适应滤波算法,在该算法对目标跟踪的基础上,可以更准确地计算出视场校正控制量;对视场跟踪进行了仿真验证,利用飞行航迹和目标轨迹模拟,无人机盘旋跟踪地面运动目标,实时计算出偏差角控制量并调整视场;仿真结果表明,视场对机动目标的跟踪效果良好,算法稳定可靠。To track ground maneuvering target, the viewing field of UAV is studied. The position solution of target in image and motion relationship of UAV, target and field of view are analyzed, the relative position relation of these three is modeled, and the control volume of viewing field for target tracking is derived. The ＂current＂ statistical model and adaptive filtering algorithm are introduced briefly, based on the target tracking algorithm, control volume of viewing field can be calculated more accurately. The viewing field tracking are verified, by using flight path and target trajectory simulation, UAV hovering and tracking ground moving target are simulated, and deviation angles of control variable are calculated for adjusting the viewing field. The simulation results indicate that the effect of tracking maneuvering targets is good, and the algorithm is stable and reliable.

关 键 词：无人机 机动目标模型 自适应滤波 视场跟踪 

分 类 号：V279[航空宇航科学与技术—飞行器设计]