基于IMM-UIF的多无人机纯角度机动目标跟踪  

Angle-only maneuvering target tracking by multi-UAV based on IMM-UIF

作　　者：吴亚妃 张民[1] 贾大成 邹浩文 WU Yafei;ZHANG Min;JIA Dacheng;ZOU Haowen(College of Automation,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学自动化学院,南京211106

出　　处：《导航定位与授时》2024年第2期111-121,共11页Navigation Positioning and Timing

基　　金：上海航天科技创新基金(SAST2021-053)。

摘　　要：针对单无人机不能及时捕捉到目标的运动状态信息,很容易跟丢目标的问题,结合无迹信息滤波(UIF)算法和交互多模型(IMM)算法,提出了基于IMM-UIF的多无人机分布式融合估计算法。将各个无人机上的观测信息传输至中心节点,并统一优化各无人机的控制输入。仿真结果表明,基于IMM-UIF的多无人机分布式融合估计算法比基于IMM-UIF的单无人机跟踪精度提高了约30%,有效融合多无人机平台的量测信息,实现对目标稳定的高精度跟踪。In view of the problem that a single UAV cannot timely capture the movement status information of the target,it is easy to lose track of the target.Combining the unscented information filtering(UIF)algorithm with the interactive multiple model(IMM)algorithm,a multi-UAV distributed fusion estimation algorithm based on IMM-UIF is proposed.The observation information from each UAV is transferred to a central node and the control inputs of each UAV is uniformly optimized.The simulation results show that the tracking accuracy of the multi-UAV distributed fusion estimation algorithm based on IMM-UIF is about 30%higher than that of the single UAV based on IMM-UIF,and the measurement information of the multi-UAV platform is effectively integrated to achieve stable and high-precision target tracking.

关 键 词：无人机 目标跟踪 交互多模型 无迹信息滤波 分布式融合 

分 类 号：V279[航空宇航科学与技术—飞行器设计]