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Method for tracking moving source by using single unmanned aerial vehicle

A technology for moving sources and unmanned aerial vehicles, which is applied in the field of source tracking research, can solve problems such as inaccurate estimation results, and achieve the effect of clear logic and simple and effective algorithms.

Active Publication Date: 2021-09-07
NANJING YIZHI CYBERSPACE TECH INNOVATION INST CO LTD
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  • Application Information

AI Technical Summary

Problems solved by technology

Although source tracing using UAVs has been widely studied, previous studies often assumed that the source is stationary, while in real-world scenarios the source is likely to be mobile, such as wild animals with RF and mobile Pseudo base stations, etc., may make the estimation results inaccurate

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  • Method for tracking moving source by using single unmanned aerial vehicle
  • Method for tracking moving source by using single unmanned aerial vehicle
  • Method for tracking moving source by using single unmanned aerial vehicle

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Embodiment Construction

[0050] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention.

[0051] Such as figure 1 The shown invention comprises the following steps:

[0052] Step 1: Carry out modeling according to the characteristics of each model in the system, including the dynamic model of a single UAV and mobile source and the UWB sensor model carried by a single UAV, and initialize the relevant parameters of the model.

[0053] Step 2: Based on the characteristics of the sensor model established in step 1 and the UAV dynamics model, use the viewpoint of relative velocity transformation and use the geometric relationship to deduce the relative velocity of the moving source and design a strategy to estimate the velocity direction of the source. ...

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Abstract

The invention discloses a method for tracking a moving source by using a single unmanned aerial vehicle. The method specifically comprises the following steps: step 1, acquiring the distance between the single unmanned aerial vehicle and a moving source in real time by a UWB sensor mounted on the single unmanned aerial vehicle; 2, when the moving source moves linearly at a constant speed according to a certain speed direction, calculating the relative speed of the moving source relative to the single unmanned aerial vehicle according to the distance collected by the UWB sensor in real time and a relative speed conversion method so as to estimate the speed direction of the moving source , and calculating the speed vs of the moving source according to the speed direction of the moving source; and step 3, calculating the relative speed of the single unmanned aerial vehicle relative to the moving source according to the speed of the moving source, and estimating the position of the moving source based on a multi-point data fusion strategy. The method is simple and effective in algorithm and clear in logic, and an accurate speed estimation algorithm and a rapid source position positioning method are provided for the moving source tracking problem.

Description

technical field [0001] The invention belongs to the technical field of source tracing research. Background technique [0002] UAVs are often defined as powered aircraft that do not require human operator control, use aerodynamics to provide lift, can fly autonomously or be remotely controlled, and can carry specific sensors. Compared with traditional manned aircraft, UAVs It is more suitable for task execution in complex and dangerous environments. Nowadays, many scientific researchers are very interested in the development of UAVs for many civilian and military tasks, and there are many application scenarios for UAVs, such as surface reconnaissance, auxiliary law enforcement, disaster assistance, telecommunications relay, border surveillance, agricultural surveying , Power system monitoring, archaeological site control, etc. [0003] The source in the source tracing problem is a very abstract concept. In the real world, the source can be regarded as a chemical source that...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10B64C39/02
CPCG05D1/106B64C39/024B64U2101/00
Inventor 单冯李增保罗军舟杨明吴文甲
Owner NANJING YIZHI CYBERSPACE TECH INNOVATION INST CO LTD
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