A multi-UAV search route planning method and device

Abstract

The invention discloses a multi-unmanned aerial vehicle search route planning method and device. The method includes: obtaining the pitch angle of the passive radar seeker of the UAV and the longest side of the projected coverage area formed by it H max ; Obtain the beam width of the target radiation source antenna and the area range of the target with an uncertain position, which is equivalent to the radius of the circumscribed circle R ; Take the seeker search field of view to fully cover the circumscribed circle as the goal, and calculate the number of UAVs required N ;According to the maximum pitch angle, beam width, radius R and the number of UAVs required N , in the most extreme airspace interception situation, with the UAVs participating in the cooperative search intercepting the airspace of the radiation signal of the target radiation source antenna as the goal, plan the included angle, Search route parameters of each UAV L and the number of drones participating in the collaborative search M . The invention can carry out multi-unmanned aerial vehicle search route planning under the situation of uncertain target position and uncertain orientation of target radiation source antenna.

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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