指定域多无人机协同目标跟踪研究  

Study on Multi-UAV Collaborative Target Tracking in Specified domain

作　　者：朱代武[1] 刘豪 曾婧涵 孙永鹏 ZHU Daiwu;LIU Hao;ZENG Jinghan;SUN Yongpeng(Civil Aviation Flight College of China,Guanghan 618307,China)

机构地区：[1]中国民用航空飞行学院,四川广汉618307

出　　处：《计算机测量与控制》2023年第3期201-207,共7页Computer Measurement &Control

基　　金：民航局安全能力建设项目(14002600100015J013);四川省大学生创新创业训练计划(202210624005)。

摘　　要：由于战场环境日益复杂、对抗性日益增强、任务日益多样和单机能力受限特性,多无人机协同执行作战任务已经成为无人机系统应用的重要发展趋势;针对协同作战中的系统复杂性、时间敏感性和通信计复杂性等特点进行分析,结合无人机运动性能及自主协同控制能力提出指定域多无人机协同目标跟踪的研究模型;首先建立面向战术任务的多无人机协同目标跟踪模型,其次在指定域范围内对多无人机进行面向持续跟踪模型的优化,最后选取一定数量的无人机在指定域内进行仿真,实验结果表明:面向持续的指定域多无人机协同目标跟踪模型是有效的,且具有较好的目标状态估计性能。There are the characteristics of complexity, confrontation, multiple tasks and the limited capability of single aircraft in battlefield environments, collaborative combat missions with multiple UAVs has become an important development trend in the application of UAV system. The characteristics of system complexity, time sensitivity and communication complexity are analyzed, and a multi-UAV cooperative target tracking model of the specified domain is proposed based on the UAV motion performance and autonomous cooperative control capability. Firstly, a multi-UAV cooperative target tracking model for multiple tasks is established. Secondly, a continuous tracking model for multiple UAVs is optimized in the specified domain. Finally, a certain number of UAVs is selected for the simulation in the specified domain. Experimental results show that the proposed tracking model is effective, which has the good performance of the target state estimation.

关 键 词：指定域 多无人机 协同目标跟踪 自主控制 持续跟踪 

分 类 号：TN925[电子电信—通信与信息系统] TP391[电子电信—信息与通信工程]