Target tracking system based on unmanned aerial vehicle cluster

Abstract

A target tracking system based on an unmanned aerial vehicle (UAV) cluster comprises N UAVs which constitute an ad-hoc network. The ad-hoc network includes a group leader UAV node and N-1 group memberUAV nodes, wherein N is greater than or equal to 3, and each UAV carries a sensor. The system is characterized in that: (1) the N-1 group member UAV nodes measure a target through their sensors to obtain measurement results and transmit the measurement results as output to the group leader UAV node via the ad-hoc network; (2) the group leader UAV node predicts the state of the target in a periodof time in the future according to all the received measurement results; and (3) the group leader UAV node adjusts the flight plans of all the UAV nodes in the period of time in the future in real time according to the predicted state of the target so that part of the N-1 group member UAV nodes cooperate to track the target and the other group member UAV nodes hover near the possible destinationsof the target to wait for the target to appear. The target tracking system based on a UAV cluster provided by the invention can improve the accuracy of target observation and the time of target observation by UAVs.

Description

technical field [0001] The invention relates to an unmanned aerial vehicle cluster target tracking system, which belongs to the technical field of aircraft. Background technique [0002] Unmanned Aerial Vehicle (UAV) is the best choice to perform boring, harsh or dangerous tasks. In many applications of UAV, such as battlefield reconnaissance, ground attack, urban anti-terrorism, and maritime search and rescue, etc., target tracking tasks are included. In complex In the environment, especially in the urban environment, due to the influence of factors such as sensor line-of-sight occlusion and flight airspace restrictions, a single UAV is usually not enough to achieve continuous tracking of the target, and multiple UAVs are required to cooperate to maintain the target tracking task and obtain better results. High target positioning accuracy. However, while the cooperative tracking of multiple UAVs has the above advantages, it also brings challenges to the existing methods. Th...

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Problems solved by technology

[0002] Unmanned Aerial Vehicle (UAV) is the best choice to perform boring, harsh or dangerous tasks. In many applications of UAV, such as battlefield reconnaissance, ground attack, urban anti-terrorism, and maritime search and rescue, etc., target tracking tasks are included. In complex In the environment, especially in the urban environment, due to the influence of factors such as sensor line-of-sight occlusion and flight airspace restrictions, a single UAV is usually not enough to achieve continuous tracking of the target, and multiple UAVs are required to cooperate to maintain the target tracking task and obtain better results. High target positioning accuracy. However, while the cooperative tracking of multiple UAVs has the above advantages, it also brings challenges to the existing methods. The main difficulty comes from how to coordinate the movement of these UAVs to obtain the target better observation?

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