Observation-Driven Multiple UAV Coordinated Standoff Target Tracking Based on Model Predictive Control  

作　　者：Shun Sun Yu Liu Shaojun Guo Gang Li Xiaohu Yuan 

机构地区：[1]Department of Control Science and Technology,Naval Aviation University,Yantai 264001,China [2]Department of Electronic Engineering,Tsinghua University,Beijing 100084,China [3]National Institute of Defense Technology Innovation,Academy of Military Sciences PLA,Beijing 100091,China [4]Department of Automation,Tsinghua University,Beijing 100084,China

出　　处：《Tsinghua Science and Technology》2022年第6期948-963,共16页清华大学学报（自然科学版（英文版）

基　　金：supported in part by the National Natural Science Foundation of China(Nos.62022092 and 61790550).

摘　　要：An observation-driven method for coordinated standoff target tracking based on Model Predictive Control(MPC)is proposed to improve observation of multiple Unmanned Aerial Vehicles(UAVs)while approaching or loitering over a target.After acquiring a fusion estimate of the target state,each UAV locally measures the observation capability of the entire UAV system with the Fisher Information Matrix(FIM)determinant in the decentralized architecture.To facilitate observation optimization,only the FIM determinant is adopted to derive the performance function and control constraints for coordinated standoff tracking.Additionally,a modified iterative scheme is introduced to improve the iterative efficiency,and a consistent circular direction control is established to maintain long-term observation performance when the UAV approaches its target.Sufficient experiments with simulated and real trajectories validate that the proposed method can improve observation of the UAV system for target tracking and adaptively optimize UAV trajectories according to sensor performance and UAV-target geometry.

关 键 词：coordinated tracking standoff tracking observation-driven Model Predictive Control(MPC) multiple UAVs Fisher Information Matrix(FIM) 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]