Multiple-unmanned aerial vehicle cooperative passive location method based on improved distance parameterization

Abstract

The invention provides a multiple-unmanned aerial vehicle cooperative passive location method based on improved distance parameterization. First, an initial distance interval is divided, and the weight of the distance interval is initialized; then, squared root cubature information filtering is performed separately on the sub intervals, and the weight of the distance interval is updated; and weighted fusion is performed on filtering results of all the sub intervals to obtain a final location result. The problem that the covariance matrix is not positive definite due to round-off error of a computer is eliminated, and the robustness of the filtering method is improved. Compared with a traditional distance parameterization method, the amount of calculation of the adopted improved distance parameterization method is greatly reduced. The influence of the initial filtering value to the location performance is avoided effectively, and the real-time performance of the filtering method is improved. Information filtering under a fully distributed fusion estimation structure makes fusion estimation calculation easier and improves the location accuracy.

Description

technical field [0001] The invention belongs to the field of passive positioning, and relates to a multi-unmanned aerial vehicle cooperative passive positioning method. Background technique [0002] Passive positioning refers to a technology that uses the radiation of the target itself to detect the target and determine the movement state of the target. Compared with active positioning such as radar, passive positioning has the advantages of strong concealment and long detection distance because the observer itself does not radiate signals, and is widely used in electronic reconnaissance, electronic countermeasures, and precision guidance. [0003] Since the observations of the passive sensor only have the angle information of the target and cannot obtain the distance information of the target, when the passive positioning of a single UAV is adopted, in some cases, even if the carrier aircraft itself maneuvers, the accuracy of the target cannot be guaranteed. Full observabi...

AI Technical Summary

Problems solved by technology

However, this method requires a lot of calculations when solving the subinterval likelihood function, the system has poor real-time performance and is prone to filter failure due to exponent explosion

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