多无人机地面移动目标搜寻和定位  

Ground moving target search and location with multi-unmanned aerial vehicles

作　　者：徐卓君[1] 王耀祥 黄兴 彭程[2] XU Zhuo-jun;WANG Yao-xiang;HUANG Xing;PENG Cheng(College of Communication Engineering,Jilin University,Changchun 130022,China;Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China)

机构地区：[1]吉林大学通信工程学院,长春130022 [2]中国科学院长春光学精密机械与物理研究所,长春130033

出　　处：《吉林大学学报（工学版）》2023年第3期832-840,共9页Journal of Jilin University:Engineering and Technology Edition

基　　金：吉林省科技发展计划项目(20200201294JC)。

摘　　要：为了提高多无人机搜寻的效率,降低实际搜寻过程中操作和通信延时带来的误差影响,提高定位精度,提出了多无人机地面移动目标搜寻和定位方法。首先,通过地面站为单一无人机手动搜寻框选目标并提取目标共享信息。然后,他机根据共享信息,利用YOLOv3自动检测并定位目标。最后,设计了基于判别相关滤波器的延时误差补偿算法,对选定过程中的坐标误差进行估计和补偿。实验结果表明,本文方法有效提高了多机目标搜寻和定位的效率和精度。In order to improve the efficiency of multi-unmanned aerial vehicle search,reduce the error impact caused by operation and communication delay,and improve the positioning accuracy in the actual search process:the man-machine manually searched for the frame to select the target and extracted the shared information of the target;then the other machine used YOLOv3 to automatically detect and locate the target according to the shared information;finally,a KCF-based delay error compensation algorithm was designed to estimate and compensate the coordinate error in the selection process.The experimental results show that the above method effectively improves the efficiency and accuracy of multi-machine search and positioning.

关 键 词：控制理论与控制工程 多无人机 目标搜寻 误差补偿 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]