无人机编队飞行中的定位和同步控制问题研究  

Research on pure azimuth passive positioning and synchronous control of UAV in formation flight

作　　者：樊志领 王帅 李雪 王万晓 FAN Zhiling;WANG Shuai;LI Xue;WANG Wanxiao(School of Mathematics and Statistics,Zhoukou Normal University,Zhoukou 466001,China)

机构地区：[1]周口师范学院数学与统计学院,河南周口466001

出　　处：《周口师范学院学报》2023年第2期8-12,共5页Journal of Zhoukou Normal University

基　　金：周口市科技攻关计划项目“周口市出租车合乘优化模型研究”(2021GG02015)。

摘　　要：主要研究无人机在编队飞行时的纯方位无源定位问题和保持固定队形的同步控制问题。首先,通过被动接收信号无人机接收到的位置信息建立纯方位无源定位的非线性规划模型,利用变步长搜索法进行求解,得到了误差较小的定位位置。然后,结合一个特定的编队方式,利用纯方位无源定位方法建立无人机飞行过程中的多智能体同步控制模型,实现了通过较少的调整次数将有偏差的无人机调整至理想位置。最后,通过仿真实验验证了模型和算法的有效性。This paper mainly studies the problem of pure azimuth passive positioning of UAVs in formation flight and the synchronous control problem of maintaining a fixed formation.Firstly,a nonlinear programming model of pure azimuth passive positioning is established by the position information received by the UAV passively receiving signals,and the variable step search method is used to solve the problem,and the positioning position with less error is obtained.Then,combined with a specific formation method,the pure azimuth passive positioning method is used to establish a multi-agent synchronous control model during the flight of the UAV,which realizes the adjustment of the UAV with deviation to the ideal position through less adjustment times.Finally,the validity of the model and algorithm is verified by simulation experiments.

关 键 词：无人机 无源定位 多智能体同步控制 变步长搜索 仿真 

分 类 号：O224[理学—运筹学与控制论] C931.1[理学—数学]