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Method for unmanned aerial vehicle to track water target based on time optimum

A time-optimized, target-to-be-tracked technology, applied in the direction of non-electric variable control, instruments, control/regulation systems, etc., can solve problems such as unconsidered safety obstacle avoidance, long time, etc.

Inactive Publication Date: 2018-08-24
OCEAN UNIV OF CHINA
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AI Technical Summary

Problems solved by technology

More importantly, the time for UAVs to converge to the limit cycle is often longer, and the problem of safe obstacle avoidance in the process of target tracking is not considered. a lot of room for improvement

Method used

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  • Method for unmanned aerial vehicle to track water target based on time optimum
  • Method for unmanned aerial vehicle to track water target based on time optimum
  • Method for unmanned aerial vehicle to track water target based on time optimum

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Embodiment Construction

[0063] Hereinafter, specific embodiments of the present invention will be further described in conjunction with the accompanying drawings.

[0064] The invention proposes a time-optimized method for unmanned aerial vehicles to track water targets, which can be applied to the fields of tracking, search and rescue of water targets, and the method has high real-time and fast tracking performance.

[0065] A time-optimized UAV tracking method for water targets, the premise of which is to assume that the state information of the water target is known, and the movement of the UAV in the horizontal plane and the longitudinal plane is decoupled. Among them, the water targets include water moving targets and water static targets, and the status information of the water targets includes information such as the position and speed of the water targets; the movement of the UAV can be decomposed into two directions of movement, one is the movement of the horizontal plane, and the other is th...

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Abstract

The invention provides a method for an unmanned aerial vehicle to track a water target based on time optimum. Assuming that state information of a to-be-tracked target is known, and that movement of the unmanned aerial vehicle in a horizontal plane and a longitudinal plane are decoupled, the method comprises the following steps: determining a tracking equilibrium state; based on the tracking equilibrium state, establishing an expected airway, guiding the unmanned aerial vehicle to operate on the expected airway, to guide the unmanned aerial vehicle to reach the tracking equilibrium state in shortest time. The method is also suitable to be used for tasks of a plurality of unmanned aerial vehicles to track a target, and barrier avoiding. The method for an unmanned aerial vehicle to track a water target guides the unmanned aerial vehicle to converge to a horizontal limit cycle and standoff height in shortest time through determining the tracking equilibrium state and establishing inner / outer tangent lines and critical height based on the equilibrium state, and task efficiency is relatively high.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle control, in particular to a method for an unmanned aerial vehicle to track a water target. Background technique [0002] UAV (Unmanned Aerial Vehicle, referred to as UAV) has been widely used in military and civilian fields due to its advantages of flexible use, high cost performance, strong survivability, and ability to perform high-risk tasks. The strategic commanding heights of research and development of military and civilian equipment. In the military field, UAVs are widely used in tasks such as reconnaissance and surveillance, damage assessment, and situational awareness; in the civilian field, UAVs can effectively perform various tasks such as disaster awareness and assessment, resource detection, and land surveying and mapping. [0003] As one of the typical applications of unmanned aerial vehicles (UAVs), target tracking on water has been gradually applied to scenarios su...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 姚鹏迟书凯任凭王琨解则晓
Owner OCEAN UNIV OF CHINA
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