A method and system for multi-UAV cooperative tracking of targets

Abstract

This application discloses a method and system for multi-UAV cooperative tracking of a target, including: S1 obtains the speed and position information of the target, broadcasts it to other UAVs, and receives the speed information and position of the target sent by other UAVs Information and information fusion; S2 multi-UAVs each determine the tracking method according to the speed information of the fused target; S3 multi-UAVs each according to the navigation information of itself and other UAVs, the speed of the target, position information and tracking methods , calculate the final guidance vector; S4 multi-UAV update the speed and position information of the target, broadcast to other UAVs, receive the target information sent by other UAVs and perform information fusion, and return to S2. Through the real-time calculation of the target speed, the tracking method is determined, the tracking ability is enhanced, and the target is prevented from escaping through variable speed; through conflict detection and guidance vector correction, obstacles or other drones during flight are avoided, flight collisions and conflicts are prevented, and safety is improved. .

Description

technical field [0001] The present application relates to the technical field of UAV autonomous track planning, in particular to a method and system for multi-UAV cooperative tracking of targets. Background technique [0002] The multi-UAV collaborative trajectory planning technology is based on the specific tasks of each UAV, and under the premise of satisfying multiple types of constraints (platform performance constraints, battlefield environment constraints, and mission coordination constraints), plan for each UAV. Find the flyable trajectory from the starting point to the target point, so that it can reach the optimal or better performance index. Compared with single-UAV trajectory planning, multi-UAV cooperative trajectory planning needs to coordinate and deal with the relationship between the UAV trajectories, including space coordination relationship, time coordination relationship and task coordination relationship, so that multi-UAV The system can effectively perf...

AI Technical Summary

Problems solved by technology

The disadvantage of this method is that, first of all, this method is only suitable for rotary-wing UAVs and cannot be applied to fixed-wing UAVs; secondly, this method only considers the tracking of targets by a single UAV, while a single UAV UAVs are less efficient when performing large-scale search and tracking tasks, and the reliability of tracking tasks is also poor. Once the target is lost due to special factors, it is difficult to find and track the target again

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