Multi-unmanned aerial vehicle search route planning method and device

Abstract

The invention discloses a multi-unmanned aerial vehicle search route planning method and device. The method comprises the following steps: acquiring a pitch angle of a passive radar seeker of an unmanned aerial vehicle and a longest side Hmax of a projection coverage area formed by the pitch angle; obtaining the beam width of a target radiation source antenna and the radius R of a circumcircle equivalent to the area range of the uncertain position target; calculating the number N of required unmanned aerial vehicles by taking a seeker search view field to fully cover a circumcircle as a target; according to the maximum pitch angle, the beam width, the radius R and the number N of required unmanned aerial vehicles, under the condition of the most extreme airspace interception, taking the condition that the unmanned aerial vehicles participating in collaborative search all intercept the airspace of a radiation signal of a target radiation source antenna as a target, and planning an included angle between the entry section airways of the two adjacent unmanned aerial vehicles participating in the collaborative search, a search airway parameter L of each unmanned aerial vehicle and the number M of the unmanned aerial vehicles participating in the collaborative search. According to the invention, multi-unmanned aerial vehicle search route planning can be carried out under the condition that the target position is uncertain and the orientation of the target radiation source antenna is uncertain.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and more specifically relates to a multi-unmanned aerial vehicle search route planning method and device. Background technique [0002] Anti-radiation drones are small unmanned aircraft equipped with passive radar seekers and warheads. They are mainly used to suppress and destroy enemy ground radars and weaken the combat capabilities of enemy air defense systems. Among them, the passive radar seeker can realize the process of target search, signal interception, identification and tracking of hidden radiation source signals in the combat area. At the same time, the passive radar seeker also adds field of view constraints to the UAV search target. In addition, the anti-radiation UAV has the characteristics of "no matter after launch", and can only fly according to the predetermined track during the search phase. Therefore, higher requirements are put forward for the pre-search trac...

AI Technical Summary

Problems solved by technology

These two documents fully considered the search characteristics of anti-radiation UAVs and are highly targeted. However, they are based on the situation where the target position is known. They only consider the search coverage of the target at the known position, and do not consider the uncertain position of the target. How to plan the search route for the uncertain "point-to-surface" cooperative reconnaissance

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