多无人机航迹融合算法及性能评估（英文）  

Exact algorithms for track-to-track fusion by multiple UAVs and performance evaluation

作　　者：陆科林 周锐[1] 张翔伦 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191 [2]西安自动飞行控制研究所,陕西西安710065

出　　处：《控制理论与应用》2015年第10期1392-1399,共8页Control Theory & Applications

基　　金：Supported by National Natural Science Foundation of China(61273349,61175109,61203223);the Aviation Science Foundation of China(2013ZA18001,2014ZA18004)

摘　　要：航迹融合是多无人机系统进行协同侦察,巡逻和目标跟踪领域中的一个重要问题.本文根据不同信息反馈配置给出了局部航迹之间的协方差的精确计算,并据此提出一种精确、具有可扩展性并且适用于任意通信频率的航迹融合算法.此外,本文通过求解对应的离散代数Riccati方程求取融合估计的稳态误差协方差,并以此进行融合性能分析.最后,本文利用Monte Carlo仿真比较理论和实际结果,实验结果验证了该融合算法的有效性.Track-to-track fusion is an important topic for cooperative surveillance, reconnaissance and target tracking by multiple unmanned aerial vehicles（UAVs）. In this paper, the accurate cross-covariances between the local estimates are obtained from various information feedback configurations, which gives rise to the scalable and consistent algorithms for track-to-track fusion（T2TF） at an arbitrary communication rate. Furthermore, the steady-state error covariance of the fused estimate is obtained by solving the corresponding discrete algebraic Riccati equation for performance analysis. In addition, the theoretical results are compared with those from the extensive Monte Carlo simulation, which validates the effectiveness of the proposed fusion algorithms.

关 键 词：航迹融合 无人机 卡尔曼滤波器 目标跟踪 估计 

分 类 号：V279[航空宇航科学与技术—飞行器设计]