双无人机对地快速移动目标跟踪的构型设计与控制方法  

A Configuration Design and Control Method for Dual UAV Tracking of Fast-moving Targets on the Ground

作　　者：杨璇 尹栋 王惠方[1] 陈浩 张轩 张伟杰 YANG Xuan;YIN Dong;WANG Huifang;CHEN Hao;ZHANG Xuan;ZHANG Weijie(Northwest Institute of Mechanical&Electrical Engineering,Xianyang 712099,Shaanxi,China;College of Intelligence Science and Technology,National University of Defense Technology,Changsha 410000,Hunan,China)

机构地区：[1]西北机电工程研究所,陕西咸阳712099 [2]国防科技大学智能科学学院,湖南长沙410000

出　　处：《火炮发射与控制学报》2024年第2期14-21,共8页Journal of Gun Launch & Control

基　　金：国家自然科学基金重点项目(61931020);国家自然科学基金(62303483)。

摘　　要：为实现对地面快速移动目标的探测跟踪,基于无人机侦察载荷的误差模型,设计了双无人机编队跟踪目标的构型与跟踪控制律。面向持续跟踪的典型应用场景,设计了基于Leader-Follower的双机编队构型,并基于相机误差模型建立了双无人机探测叠加区域的误差分布模型,以此确定了目标与无人机编队的位置关系。之后,基于无人机与目标的视觉关系定义长机的矢量前置角和与目标之间的距离为跟踪误差,设计了基于李雅普诺夫方法的跟踪控制律,并证明跟踪控制的渐近稳定性。设计了僚机相对于长机的编队控制律,以保持双机平行编队的构型。仿真结果表明,目标机动运动时,双无人机系统能够在较短时间内收敛,实现对目标的持续稳定跟踪。In order to detect and track fast-moving targets on the ground,a target-tracking configuration and tracking control law for dual-drone formation was designed based on the error model of UAV reconnaissance loads.In the context of typical scenarios requiring continuous tracking,a Leader-Follower-based dual-drone formation was designed.The error distribution model of the overlapped detection region for dual UAVs was established based on the sensor error model,which determined the spatial relationships between targets and the UAV formation.Then,the vector lead angle of the leader UAV and distance between and targets was defined as the tracking error baed on the visual relationships between UAVs and targets.A tracking control law based on the Lyapunov method was designed,and the asymptotic stability of the tracking control was proved.Finally,a formation control law for the follower UAV relative to the leader UAV was designed to maintain a parallel formation.Simulation results show that the dual UAV system can converge in a short time and realize continuous and stable tracking of moving targets.

关 键 词：无人机 目标跟踪 编队控制律 LEADER-FOLLOWER 视线关系 LYAPUNOV 

分 类 号：TJ765[兵器科学与技术—武器系统与运用工程]