Multi-unmanned aerial vehicle target tracking phase angle correction method based on orbital transfer method

Abstract

The invention discloses a multi-unmanned aerial vehicle target tracking phase angle correction method based on an orbital transfer method. Coordinated tracking of a plurality of unmanned aerial vehicles for a target can be achieved when the condition of equiphase angle interval constraints of all the unmanned aerial vehicles is met. The method comprises the following steps: the flight constraint condition is determined; a transfer orbit is formed, and the unmanned aerial vehicles are guided to an outer orbit; the phase angle errors of the adjacent unmanned aerial vehicles on the outer orbit are calculated; the orbital transfer sequence and the phase angle correction time of all the unmanned aerial vehicles are determined; and transferring is conducted from the outer orbit to an inner orbit, and phase angles are corrected. The method has the advantages of short tracking time, high tracking efficiency and the like, and has the advantages that the phase angles between the multiple unmanned aerial vehicles can be corrected, the phase angle correction efficiency is high, the orbital transfer sequence and the phase angle correction time are clearly indicated, and the correction method issimple and practical.

Description

technical field [0001] The invention belongs to the field of target tracking of unmanned aerial vehicles, and mainly relates to that when multiple unmanned aerial vehicles perform cooperative tracking on a target, each unmanned aerial vehicle must satisfy the constraint of equal phase angle intervals and be distributed on the desired tracking circle above the target, especially It relates to a method for correcting the phase angle of multiple unmanned aerial vehicle tracking targets based on the orbit transformation method. Background technique [0002] Multi-unmanned aerial vehicles (Unmanned Aerial Vehicle, UAV) cooperative standoff tracking can ensure that the airborne detection equipment can fully and effectively cover the target, and can also reduce mission risks and avoid damage to UAVs. Control and other fields have broad application prospects. [0003] When multiple UAVs are cooperatively tracking the target, the UAVs must not only converge to the desired tracking c...

AI Technical Summary

Problems solved by technology

This method takes the time t into consideration, expands the dimension of guidance, and corrects the position and phase angle by adding vector correction items, but causes high complexity in the algorithm; in addition, in order to generate continuous guidance instructions, the airborne The computer needs to continue to perform a large number of calculations, resulting in a large load

[0005] In summary, although the existing methods can solve the above problems, they all have increased tracking time to varying degrees, reduced tracking efficiency, heavy computational load on the airborne computer, complex structures, more degrees of freedom in planning parameters, and more complex problems. High, difficult to achieve and other issues

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