Heterogeneous unmanned aerial vehicle cluster target tracking system and method based on biosocial force

Abstract

The invention discloses a heterogeneous unmanned aerial vehicle cluster target tracking system and method based on biosocial force. The target tracking system includes a cluster hardware system architecture, a cluster software system architecture, a cluster communication system architecture and a cluster flight management and control system. The method comprises the following steps that 1, modeling of an unmanned aerial vehicle state is carried out; 2, a consistency protocol is designed; 3, unmanned aerial vehicle control instructions are designed based on a phase difference consistency algorithm; 4, trajectory tracking based on non-linear guidance is carried out; 5, a heterogeneous unmanned aerial vehicle cluster system based on the biosocial force is described; and 6, heterogeneous unmanned aerial vehicle cluster target tracking based on the biosocial force is carried out. The heterogeneous unmanned aerial vehicle cluster target tracking system and method based on the biosocial forcehas the advantages that the heterogeneous unmanned aerial vehicle cluster target tracking is realized, the speed of controlling an unmanned aerial vehicle to gradually converge to an expected path isincreased, and the system of the whole target tracking system is complete, the functions are perfect, and the verification of targets in different task scenes can be realized.

Description

technical field [0001] The invention relates to a heterogeneous unmanned aerial vehicle cluster target tracking system and method based on biological social forces, belonging to the field of unmanned aerial vehicle navigation and control. Background technique [0002] Due to its low cost, high mobility, flexible deployment and "zero casualties", UAVs are widely used in many fields such as military and civilian use. However, when a single UAV performs tasks such as military surveillance and reconnaissance and large-scale disaster scene search and rescue, it faces the risk of mission failure due to unfavorable factors such as wide mission area, complex and changeable environment, limited sensor perception ability, and single node failure. , which also promotes the transformation of the "UAV platform-centric" traditional research and application model to the "network-centric" multi-UAV collaborative model, that is, by integrating the environment perception of multiple UAVs Cap...

AI Technical Summary

Problems solved by technology

Using bio-social forces to design the control rate, realize the tracking of the target by the heterogeneous UAV cluster system, so as to solve the problems of poor maneuverability, easy to follow the target and limited detection range of the sensor in single UAV target tracking.

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