Phase Angle Correction Method for Multiple Unmanned Aerial Vehicles Tracking Target Based on Orbit Transformation Method

Abstract

The invention discloses a method for correcting the phase angle of multiple unmanned aerial vehicle tracking targets based on an orbit transformation method, which can realize cooperative tracking of targets by multiple unmanned aerial vehicles under the condition of satisfying the equal phase angle interval constraints of each unmanned aerial vehicle. The method comprises the following steps: determining the flight constraint condition; setting the changing orbit and guiding the unmanned aerial vehicle to the outer orbit; calculating the phase angle error of the adjacent unmanned aerial vehicle on the outer orbit; determining the orbit changing sequence and phase of each unmanned aerial vehicle Angle correction time; transform from the outer orbit to the inner orbit to correct the phase angle. This method not only has the advantages of short tracking time and high tracking efficiency, but also has the advantages of phase angle correction between multiple unmanned aerial vehicles, high phase angle correction efficiency, clear orbit transformation sequence and phase angle correction time, simple and practical correction method, etc. advantage.

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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