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Synergistic target tracking method for dual unmanned planes under communication constraint

A technology of target tracking and dual UAVs, which is applied in the fields of flight control, target estimation and flight control, and can solve the problems that cannot meet the constraints of communication distance and detection distance

Inactive Publication Date: 2011-06-01
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the deficiency that the existing technology cannot satisfy the communication distance constraint and the detection distance constraint, the present invention provides a dual-UAV cooperative target tracking method under communication constraints, which can control two UAVs (a leader and a wingman) ) to track a ground target cooperatively; during the tracking process, it can ensure that the communication distance constraint is satisfied, providing communication guarantee for coordination; it can ensure that the lead plane’s detection distance constraint is satisfied, providing guarantee for target tracking; it can analyze and track in real time during flight Accurate and optimized trajectory, providing assurance for tracking quality

Method used

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  • Synergistic target tracking method for dual unmanned planes under communication constraint

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Embodiment Construction

[0073] The algorithm is implemented virtually through computer simulation; in each cycle of the simulation, the lead plane is set to fly first, and the wingman is set to fly later. The implementation steps are as follows:

[0074] The simulation environment is set as follows: the target height is 0, moving eastward in a straight line at a rate of 18m / s; the flight height of the lead plane is 400m, and the flight height of the wingman is 350m; the angle error covariance matrix is ​​P=diag(0.0175 2 , 0.0175 2 )rad 2 ;The stop condition is that the simulation time is greater than 600s; D 0 =900m; Δt=1s. See the table below for other settings.

[0075] simulation settings

[0076]

[0077] Leading machine:

[0078] M1. Calculation time of the main machine t r :

[0079] t r =(1800-r 1 )×(v - t -v - 2 ) -1

[0080] long machine computing t n :

[0081] Δ=(0.5v ⊥ t -v ⊥ 1 )t r / r 1

[0082] ξ=±acos(cos(η t +Δ) / 5)+2kπ-η 1 -Δ, k=0, ±1

[0083] ξ 0 =sig...

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Abstract

The invention discloses a synergistic target tracking method for dual unmanned planes under a communication constraint. In the method, two unmanned planes are controlled to synergistically track a ground target; in the tracking process, when judging that the lead plane per se is in a forced approaching state, the lead plane rapidly meets the requirement of a detection range constraint again; if the lead plane is not in the forced approaching state, the priority is given to precision, and the lead plane enhances the precision of target observation data; a wing plane is same as the lead plane in the aspects of forced approaching state and principle of precision enhancement; the motion range of the wing plane is limited in a small range with connecting line of the two planes as a center, so that the wing plane can track the lead plane with a enough velocity component to ensure that a distance between the lead plane and the wing plane is less than a set value. By means of the method, the communication distance constraint can be met to provide the communication support for synergy; the detection range constraint of the lead plane can be met to provide guarantee for target tracking; and during flight the tracking accuracy can be analyzed in real time and the track can be optimized to provide guarantee for tracking quality.

Description

technical field [0001] The invention belongs to a flight control method when a pair of unmanned aerial vehicles autonomously tracks a ground moving target, and relates to the fields of target estimation and flight control. Background technique [0002] Autonomous tracking of moving targets is a novel use of drones and has broad application prospects, such as: research on animal migration, live broadcast of sports events, emergency rescue, guidance for material airdrops, etc. Steven A.P.Quintero, Francesco Papi, Daniel J.Klein, Luigi Chisci, and Joao P.Hespanha's "Optimal UAV Coordination for Target Tracking using Dynamic Programming" (Optimal UAV Coordination for Target Tracking using Dynamic Programming) uses dynamic programming The principle provides a globally optimal method for tracking accuracy for UAVs to track ground targets. The algorithm firstly gives the accuracy analysis method for the positioning of the target when the UAV is tracking the target; on this basis, ...

Claims

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Application Information

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IPC IPC(8): G05D1/12
Inventor 符小卫冯慧成高晓光李波陈军
Owner NORTHWESTERN POLYTECHNICAL UNIV
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