Oil field dynamic intrusion target tracking system and method based on multiple unmanned aerial vehicles

Abstract

The invention provides an oil field dynamic intrusion target tracking system and method based on multiple unmanned aerial vehicles, and relates to the technical field of unmanned aerial vehicle inspection and dynamic prediction tracking. The system comprises a control module, a monitoring module, a dynamic target trajectory prediction module and a multi-machine cooperative target tracking trajectory optimization module. According to the system, the monitoring module mounted on the unmanned aerial vehicle is used for collecting data of a dynamic intrusion target in a ground oil field working environment, then the dynamic target trajectory prediction module is used for predicting trajectories of the target in multiple sampling moments in the future, and the multi-machine cooperative target tracking trajectory optimization module is used for optimizing the distance error between the unmanned aerial vehicle and the target in the tracking process according to the predicted trajectories, sothat the distance error is kept within an effective tracking threshold value, and cooperative target tracking of the multiple unmanned aerial vehicles is achieved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle inspection and dynamic prediction and tracking, in particular to a multi-unmanned aerial vehicle-based oilfield dynamic invasion target tracking system and method. Background technique [0002] With the development of the country's economic and technological strength, the demand for petroleum energy in all walks of life is increasing. The society is gradually developing in the direction of informationization, digitization, and intelligence. The petroleum industry is also gradually moving towards informationization, digitization, and intelligence. With the rapid development of the petroleum industry, higher requirements have been put forward for the safety, stability and economy of my country's petroleum resource development. [0003] Since most of the oil collection equipment exists in the field, and the corresponding safety facilities are not complete, the traditional manual inspe...

AI Technical Summary

Problems solved by technology

However, the real-time tracking and detection technology for dynamic intrusion targets in oil fields has not been paid attention to and developed. Because oil fields are usually located in vast wilderness areas, the distribution of oil wells is scattered, resulting in the randomness of dynamic target trajectories invading oil fields. Tracking poses a big challenge

Due to its small organizational structure and limited carrying capacity, small UAVs are often unable to install a stable sensor observation platform. Usually, the sensors are directly fixed on the body at a preset installation angle. At the same time, due to the limited carrying capacity of the UAV, it will As a result, the endurance time of the UAV is limited. This problem is particularly prominent when using a single UAV to track dynamic targets in continuous time.

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