无人机运动信息分布式一致性融合估计方法  

Distributed consistency fusion estimation method for UAV motion information

作　　者：李威 刘杰 孟成才 Li Wei;Liu Jie;Meng Chengcai(Collaborative Innovation Center of Unmanned Aircraft Management and Applied Technology Research,Yunnan Police College,Kunming 650223,China;Yunnan Public Security Police Comprehensive Training Base,Kunming 650223,China)

机构地区：[1]云南警官学院无人机协同创新中心,昆明650223 [2]云南公安民警综合训练基地,昆明650223

出　　处：《战术导弹技术》2024年第3期163-174,共12页Tactical Missile Technology

摘　　要：针对非合作无人机偷越国边境、入侵活动安保现场等典型作战场景,围绕其运动信息高精度提取问题,采用多雷达探测器协同探测策略,基于分布式一致性理论设计了有限时间收敛的协同探测算法。考虑无人机目标多种机动形式,在惯性坐标系下建立了无人机目标的跟踪数学模型,并对其进行离散化处理,提出了交互式多模型(IMM)滤波算法和基于相关度准则的分布式一致性加权融合算法以实现对目标运动信息的高精度协同估计。为削弱IMM滤波算法对目标加速度信息估计的抖动现象,以及加速度估计的误差值严重依赖于滤波模型和马尔科夫概率转移矩阵的选取等问题,进一步提出了基于IMM-扩张观测器(ESO)算法的加速度协同估计策略,并进行大量的数学仿真验证。结果表明,所提估计算法可有效抑制量测噪声影响,且可显著提高对目标加速度信息的估计精度。Aiming at typical combat scenarios such as non-cooperative UAVs sneaking across the border and invading the security scene of activities,focusing on the problem of high-precision extraction of their motion information,a multi-radar detector collaborative detection strategy is adopted,and a finite time convergence collaborative detection algorithm is designed based on distributed consistency theory.Considering the various maneuvering forms of UAV targets,a tracking mathematical model of UAV targets is established under the inertial coordinate system,and discretization is proposed,and an Interactive Multi-Model(IMM)filtering algorithm and a distributed consistency-weighted fusion algorithm based on correlation criterion are proposed to achieve high-precision collaborative estimation of target motion information.In order to weaken the jitter phenomenon of IMM filter algorithm in target acceleration information estimation and the error value of acceleration estimation that is heavily dependent on the filter model and the selection of Markov probability transfer matrix,an acceleration synergy estimation strategy is further proposed based on IMM-Extended State Observer(ESO)algorithm,and a large number of mathematical simulation verifications are conducted.The results show that the proposed estimation algorithm can effectively suppress the effect of measurement noise and significantly improve the estimation accuracy of the target acceleration information.

关 键 词：无人机 多雷达探测器 分布式一致性 信息估计 IMM滤波 ESO 抖动抑制 

分 类 号：V279[航空宇航科学与技术—飞行器设计]