基于辅助信标的无人机协同目标跟踪

doi:10.12305/j.issn.1001-506X.2022.07.27

Abstract

Abstract:

Aiming at the problem that the attitude angle error and observation error of the unmanned aerial vehicle (UAV) affect the target positioning accuracy, the mathematical model of the cooperative target tracking model by UAVs based on aided beacon is constructed, and the positioning accuracy of the target is improved. An attitude correction method based on aided beacon is proposed, which uses the accurate position of aided beacon to correct the attitude angle of the UAV in real-time to reduce the influence of attitude angle error on positioning accuracy. According to the optimal observation configuration of two UAVs, the cooperative control law is designed, and the optimal trajectory of two UAVs is obtained to improve the observation quality of the target. Finally, the state estimation of the target is obtained by using the cubature Kalman filter (CKF) algorithm. Simulation results show that the algorithm can effectively reduce the influence of the attitude angle error and observation error on the target location, improve the target tracking accuracy, and has a specific engineering application value.

Key words: cooperative control, trajectory optimization, attitude correction, cubature Kalman filter (CKF), target tracking

CLC Number:

TP273

Haoran SHI, Faxing LU, Jiangxin QI, Guang YANG. Cooperative target tracking of UAVs based on aided beacon[J]. Systems Engineering and Electronics, 2022, 44(7): 2302-2310.

Figures/Tables 11

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Cooperative target tracking of UAVs based on aided beacon

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