Target guidance-oriented multi-unmanned aerial vehicle task planning and cooperative positioning method and system

Abstract

The invention relates to a target guidance-oriented multi-unmanned aerial vehicle task planning and cooperative positioning method and system, and the method comprises the steps: building an optimized pairing relation between multiple unmanned aerial vehicles and a cluster target through the cooperative scheduling of a multi-unmanned aerial vehicle system and a depth traversal method; optimizing a target guiding area by combining target tracking, laser irradiation and threat avoidance; planning a flight path satisfying flight time, speed and threat avoidance based on an RRT method, superposing a minimum separation distance constraint to ensure the safety of a flight path interval, and optimizing the length of the flight path through a Dubins curve; a positioning model is constructed, the formation with more than three machines uses multi-machine laser ranging information, and the double-machine formation uses ranging and angle measurement information to carry out target positioning; calculating target coordinates by adopting a total least square method; for multiple targets in the photoelectric image, selecting a proper image for positioning according to target distribution, and calculating coordinates by combining collinear positioning and adjustment; according to the invention, the target positioning precision of multiple unmanned aerial vehicles is improved.

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