Method for cooperatively detecting moving target by using multiple unmanned aerial vehicles

A moving target, multi-UAV technology, applied in the field of collaborative reconnaissance of moving targets based on UAVs

Inactive Publication Date: 2012-04-18
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

the challenge is to rapidly and coordinately integ

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  • Method for cooperatively detecting moving target by using multiple unmanned aerial vehicles
  • Method for cooperatively detecting moving target by using multiple unmanned aerial vehicles
  • Method for cooperatively detecting moving target by using multiple unmanned aerial vehicles

Examples

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Embodiment 1

[0064] The method for cooperative reconnaissance of a moving target by an unmanned aerial vehicle of this embodiment includes the following steps:

[0065] Step 1: Divide the area to be reconnaissance into a group of sub-areas of the same size, the number of the sub-areas is the same as the number of the UAVs, and each UAV has the same configuration; such as figure 1 As shown, in this embodiment, the area to be reconnaissance is A, which is pre-divided into A1, A2, A3, . B3,...,Bm, where m is a natural number.

[0066] Step 2: Each UAV conducts reconnaissance on the moving target in the corresponding sub-area. In order to accurately detect the moving target in the sub-area, a global search method is adopted, and the number of turns in the searched planning route should be designed to be higher. The less the better, in order to reduce the number of turns in the global search as much as possible, the designed search route is as follows figure 2 As shown, the dotted line is th...

Embodiment 2

[0073] The method steps of this embodiment are basically the same as those of the first embodiment, except that in step 4, two UAVs B13 and B9 have completed their respective reconnaissance tasks. Entering the sub-area A8 at the same time, there are three UAVs in the sub-area A8 for cooperative reconnaissance. like Figure 4 As shown, the direction lines to the target measured by the three UAV angle sensors will form a triangular area, and the center of the area is the position of the measured target.

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Abstract

The invention discloses a method for detecting a moving target in an area to be monitored based on an unmanned aerial vehicle. In the method, the moving target is tracked and positioned through cooperative detection among multiple unmanned aerial vehicles. The method comprises the following steps of: detecting a corresponding subarea by using the unmanned aerial vehicle; making other unmanned aerial vehicles enter the subarea for cooperative detection; and predicting and tracking the moving track of the moving target. By the method for cooperatively detecting the moving target by using the multiple unmanned aerial vehicles, based on the cooperation among the multiple unmanned aerial vehicles, the moving target in a detection area can be detected, positioned and tracked, and the detect of low positioning and tracking accuracy of the moving target in the prior art is overcome; and the target can be accurately positioned, and the positioning accuracy of the target is improved.

Description

technical field [0001] The invention relates to a reconnaissance method based on an unmanned aerial vehicle, in particular to a method for cooperative reconnaissance of a moving target based on the unmanned aerial vehicle. Background technique [0002] Unmanned Aerial Vehicle (UAV) is characterized by its flexible use, high survival probability, diversified airborne configuration, long airborne time, flexible operation, economical and practical, low training and maintenance cost, and weapon platform performance not limited by human physiological conditions, etc. The advantages have been successfully used in many fields such as reconnaissance, ground attack, battlefield damage assessment, jamming, deception (decoy), information relay, and ground support. In addition, UAVs also have the functions of reducing casualties of combatants and reducing equipment and use costs, so they are gradually being paid attention to by various countries. Compared with manned aircraft, drones h...

Claims

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Application Information

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IPC IPC(8): G05D1/12
Inventor 姚敏赵敏姜肖英王绪芝
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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