Unmanned aerial vehicle turning rate and state estimation method based on improved longhorn beetle search

Abstract

The invention provides an unmanned aerial vehicle turning rate and state estimation method based on improved longhorn beetle search. The method is used for solving the problem of state estimation of maneuvering motion of an unmanned aerial vehicle at an unknown turning rate on a fixed horizontal plane. The method comprises the following steps of: firstly, calculating a state predicted value, a state estimation error covariance predicted value and a measurement predicted value at a next moment through a state volume point according to an initial turning rate, a state and a covariance based on Cholesky decomposition; secondly, establishing a longicorn search fitness function on the basis of a minimum root-mean-square error principle, and obtaining an optimal value of a turning rate at the current moment after iterative updating on the basis of a random decreasing inertia weight longicorn search optimization algorithm; finally, updating the state prediction value, the state estimation error covariance prediction value and the measurement prediction value based on the obtained optimal turning rate so as to obtain a state and estimation error covariance update value. The turning rate is optimized through the longhorn beetle search algorithm based on the random decreasing inertia weight, and the tracking effect is good.

Description

technical field [0001] The invention relates to the technical field of state estimation theory under unknown system model parameters, in particular to a UAV turning rate and state estimation method based on improved longhorn search. Background technique [0002] Optimal state estimation theory plays an important role in UAV navigation and control. When the UAV performs maneuvering tasks on a fixed horizontal plane, since its turn rate is usually unknown at random, the UAV state estimation under unknown turn rate maneuvering becomes a hot and difficult problem in UAV attitude tracking. For the UAV state estimation problem with unknown turning rate, it is usually assumed that: (1) the turning rate of the UAV is regarded as a constant, that is, the influence of the unmeasured turning rate on the system state estimation is ignored; (2) the UAV The turning rate of is regarded as noise interference, that is, the turning rate is represented by random noise interference. For the s...

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Problems solved by technology

[0003] Aiming at the deficiencies in the above-mentioned background technology, the present invention proposes a UAV turning rate and state estimation method based on improved longhorn search, which solves the problem that the UAV can move at a fixed horizontal plane with an unknown State Estimation Problems in Rate-of-Turn Operations

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