基于辅助信标的无人机协同目标跟踪

doi:10.12305/j.issn.1001-506X.2022.07.27

摘要/Abstract

摘要：

针对无人机姿态角误差与观测误差影响目标定位精度问题, 构建基于辅助信标的无人机协同目标跟踪模型, 提高了对目标的定位精度。提出基于辅助信标的姿态校正方法, 利用辅助信标的精确位置实时校正无人机的姿态角, 减小姿态角误差对定位精度的影响。根据双无人机的最优观测构型, 设计双无人机协同控制律, 得到无人机观测的优化轨迹, 以提高无人机对目标的观测质量, 最后采用容积卡尔曼滤波算法得到目标的状态估计。仿真结果表明该算法能有效减小无人机姿态角误差和观测误差对目标定位的影响, 提高目标跟踪精度, 具有一定的工程应用价值。

关键词: 协同控制, 轨迹优化, 姿态校正, 容积卡尔曼滤波, 目标跟踪

Abstract:

Aiming at the problem that the attitude angle error and observation error of the unmanned aerial vehicle (UAV) affect the target positioning accuracy, the mathematical model of the cooperative target tracking model by UAVs based on aided beacon is constructed, and the positioning accuracy of the target is improved. An attitude correction method based on aided beacon is proposed, which uses the accurate position of aided beacon to correct the attitude angle of the UAV in real-time to reduce the influence of attitude angle error on positioning accuracy. According to the optimal observation configuration of two UAVs, the cooperative control law is designed, and the optimal trajectory of two UAVs is obtained to improve the observation quality of the target. Finally, the state estimation of the target is obtained by using the cubature Kalman filter (CKF) algorithm. Simulation results show that the algorithm can effectively reduce the influence of the attitude angle error and observation error on the target location, improve the target tracking accuracy, and has a specific engineering application value.

Key words: cooperative control, trajectory optimization, attitude correction, cubature Kalman filter (CKF), target tracking

中图分类号:

TP273

史浩然, 卢发兴, 祁江鑫, 杨光. 基于辅助信标的无人机协同目标跟踪[J]. 系统工程与电子技术, 2022, 44(7): 2302-2310.

Haoran SHI, Faxing LU, Jiangxin QI, Guang YANG. Cooperative target tracking of UAVs based on aided beacon[J]. Systems Engineering and Electronics, 2022, 44(7): 2302-2310.

图/表 11

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