Method for obtaining expected formation of unmanned aerial vehicle cooperatively tracking ground target under implicit communication

A ground target and UAV technology, applied in the field of UAV formation, can solve problems such as incomplete consideration of target formation information, and achieve the effect of accelerating evolution speed and strong robustness

Pending Publication Date: 2021-11-16
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

However, there is a mapping relationship between the formation geometry and formation topology, and the changes of the two structures will affect each other. Therefore, the target formation information obtained by studying the formation geometry and formation topology separately is not comprehensive. , can not meet expectations very well

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  • Method for obtaining expected formation of unmanned aerial vehicle cooperatively tracking ground target under implicit communication
  • Method for obtaining expected formation of unmanned aerial vehicle cooperatively tracking ground target under implicit communication
  • Method for obtaining expected formation of unmanned aerial vehicle cooperatively tracking ground target under implicit communication

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Embodiment Construction

[0069] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0070] In this embodiment, there are N drones in the cluster, assuming that all the drones are at the same height, so considering the relative positional relationship between the drones in the two-dimensional plane, the size X max ×Y max (km 2 ) of the target area. It can be seen from the above-mentioned way that UAVs obtain information that information is transmitted in one direction between UAVs. Therefore, a directed graph D=(V, E, A) is used to represent the information transfer topology of UAV clusters. An unmanned The machine is regarded as a UAV node, where V={v 1 , v 2 ,...,v N} is the set of all UAV nodes, E is the edge set of the directed graph, if v i available through the sensor v j information (i, j≤N), then there is a UAV node v j point to drone node v i The directed edge ∈E of . A=(a ij ) N×N is the adjacency matrix of the direct...

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Abstract

The present invention provides a method for obtaining the expected formation of the unmanned aerial vehicle cooperatively tracking the ground target under the implicit communication, a geometric structure and a topological structure can be combined for analysis, and the obtained target formation information can well meet expectation. According to the method for obtaining the expected formation of the unmanned aerial vehicle, a geometric structure and a topological structure are combined for analysis, and accurate target formation information is obtained. Specifically, for a ground target tracking task of an unmanned aerial vehicle formation, constraints such as a limited detection range of a sensor and a shortest distance (collision prevention) between unmanned aerial vehicles are considered, and an Euclidean distance and a relative sight angle between the unmanned aerial vehicles are taken as decision variables; and a formation optimization problem is established by taking the maximum topological structure survivability and tracking task stability (determined by a geometric structure) of the formation as an objective function, and an expected formation is obtained by applying an optimization problem solving algorithm.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle formations, in particular to a method for obtaining an expected formation of unmanned aerial vehicles cooperatively tracking ground targets under implicit communication. Background technique [0002] In the process of multi-UAV missions, multi-UAVs often rely on explicit communication to establish information transmission links, and transmit information through communication media and communication equipment. Most literatures have studied the multi-UAV formation optimization method under the condition of explicit communication, but when the UAV enters the area of ​​strong electromagnetic interference, the communication between UAVs is blocked, and it is necessary to rely on implicit communication to establish an information transmission link. That is, each UAV detects information through a limited field of view sensor. At this time, multiple drones need to perform tasks in formati...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 辛斌熊楚依郭苗张钧溪陈杰王晴蒋金强
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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