北京航空航天大学学报 ›› 2015, Vol. 41 ›› Issue (1): 160-166.doi: 10.13700/j.bh.1001-5965.2014.0039

• 论文 • 上一篇    下一篇

双机协同无源目标跟踪轨迹优化

冉华明, 周锐, 吴江, 董卓宁   

  1. 北京航空航天大学 飞行器控制一体化技术重点实验室, 北京 100191
  • 收稿日期:2014-01-19 出版日期:2015-01-20 发布日期:2015-02-04
  • 通讯作者: 周锐(1968-),男,湖北钟祥人,教授,zhr@buaa.edu.cn,主要研究方向为无人机自主控制,飞行器智能决策、管理与控制. E-mail:zhr@buaa.edu.cn
  • 作者简介:冉华明(1990-),男,重庆人,硕士生,ranhuaming7245@163.com
  • 基金资助:

    国家自然科学基金资助项目(61273349,61175109,61203223,61333004);航空科学基金资助项目(2011ZC13001,2013ZA18001);北航基本科研业务费资助项目(YWF-14-ZDHXY-03)

Trajectory optimization of two aircrafts in collaborative passive target tracking

RAN Huaming, ZHOU Rui, WU Jiang, DONG Zhuoning   

  1. Science and Technology on Aircraft Control Laboratory, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2014-01-19 Online:2015-01-20 Published:2015-02-04

摘要:

针对双机协同无源跟踪精度要求较高的问题,根据双机与目标的几何态势,分析了双机几何态势对双机无源探测精度的影响,给出了位置精度因子(PDOP)的公式,得出了双机的最优几何配置.提出了双机协同无源目标跟踪系统的控制结构,采用扩展信息滤波(EIF)对目标状态进行估计,以信息熵最大为轨迹优化的最优性能指标,采用了滚动时域优化(RHO)来实时地控制飞机的运动.仿真结果表明,该轨迹优化算法能够使飞机按满足最优几何配置的轨迹飞行,说明基于PDOP的最优几何配置的正确性,降低目标位置的估计误差,提高双机协同无源跟踪的精度.

关键词: 协同无源跟踪, 位置精度因子, 扩展信息滤波, 滚动时域优化, 轨迹优化

Abstract:

To solve high accuracy requirement in collaborative passive tracking of two aircrafts, according to the geometric situation of the two aircrafts to the target, the effect of the geometric situation to the passive detection accuracy was analyzed, the formula of position dilution of precision (PDOP) was presented, the optimal geometric configuration of two aircrafts was obtained. A control structure of two aircrafts' collaborative passive target tracking system was presented, extended information filter (EIF) was used to estimate target state, maximizing the information entropy was used as the optimal performance index for trajectory optimization, receding horizon optimization (RHO) was used to control aircrafts' motion in real-time. The simulation results demonstrate that this trajectory optimization algorithm can make aircrafts fly with the trajectory which meet the optimal geometric configuration, illustrate the validity of the optimal geometric configuration based on PDOP, reduce location estimation error of target, and improve the collaborative passive tracking precision of two aircrafts.

Key words: collaborative passive tracking, position dilution of precision (PDOP), extended information filter (EIF), receding horizon optimization (RHO), trajectory optimization

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