多无人机协同定位下的路径优化  

Path Optimization of Multi-UAV Cooperative Positioning

作　　者：赵玉 张效义[1] 刘广怡[1] Zhao Yu;Zhang Xiaoyi;Liu Guangyi(Information System Engineering Institute,Information Engineering University,Zhengzhou,Henan 450000,China)

机构地区：[1]信息工程大学信息系统工程学院

出　　处：《信号处理》2019年第4期712-719,共8页Journal of Signal Processing

摘　　要：利用无人机携带定位设备在空中进行辐射源目标的时差定位,可有效避免因地面布站几何因子和非视距传播带来的误差。在此场景下,针对具有定位精度保证的飞行路径最小化问题,本文推导了定位误差期望的下界,构建了最小化该下界的飞行路径优化模型,并针对该模型提出两种数值近似优化算法。在多种场景下,仿真实验对两种算法的路径优化性能进行了对比;在飞行距离受限条件下,仿真实验研究了两种算法的定位精度差异。The time difference of arrival(TDOA)for radiation source target in the air with unmanned aerial vehicle(UAV)carrying positioning equipment in this paper,which can effectively avoid the influence of ground station geometry factors and errors caused by non-line-of-sight(NLOS)propagation.In this positioning scenario,aiming at the flight path minimization problem with positioning accuracy guarantee,this paper mainly considers the problem of minimizing flight path under the condition of ensuring positioning accuracy.And the lower bound of positioning error expectation is derived,the flight path optimization model in the process of minimizing the lower bound is given,and two numerical approximate optimization algorithms for the model are proposed.At the last of this paper,the simulation experiment compares the performance of the two algorithms in different scenarios on path optimization and the effect on positioning accuracy when the flight distance is limited,both of them have well performance at last.

关 键 词：多无人机协同定位 路径优化 定位误差期望 

分 类 号：TN911[电子电信—通信与信息系统]