北京航空航天大学学报 ›› 2015, Vol. 41 ›› Issue (11): 2116-2123.doi: 10.13700/j.bh.1001-5965.2014.0716

• 论文 • 上一篇    下一篇

角度测量下双机协同standoff目标跟踪

朱黔1, 周锐1, 董卓宁1, 李浩2   

  1. 1. 北京航空航天大学自动化科学与电气工程学院, 北京 100191;
    2. 中航工业成都飞机设计研究所, 成都 610091
  • 收稿日期:2014-11-18 修回日期:2015-01-30 出版日期:2015-11-20 发布日期:2015-12-01
  • 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、多飞行器协同控制. E-mail:hr@buaa.edu.cn
  • 作者简介:朱黔(1988-),男,贵州六盘水人,博士研究生,ZhuQian@buaa.edu.cn
  • 基金资助:
    国家自然科学基金(61273349,61175109,61203223)

Coordinated standoff target tracking using two UAVs with only bearing measurement

ZHU Qian1, ZHOU Rui1, DONG Zhuoning1, LI Hao2   

  1. 1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
    2. AVIC Chengdu Aircraft Design & Research Institute, Chengdu 610091, China
  • Received:2014-11-18 Revised:2015-01-30 Online:2015-11-20 Published:2015-12-01

摘要: 基于最大化目标位置估计精度,针对两架无人机(UAV)仅有角度测量的情况,提出一种新的协同随机运动目标standoff跟踪控制方法.以目标位置估计均方根误差(RSME)作为性能指标,建立其与UAV观测几何构型之间的关系模型,进而确定了最优跟踪时UAV最优观测几何构型.采用扩展信息滤波实现目标状态的融合估计;考虑平台性能、碰撞规避、安全距离等约束条件,采用非线性模型预测控制(NMPC)实现UAV协同分布式在线优化控制.仿真结果表明该算法在确保最优观测构型和跟踪精度的同时有效地提高了算法实时性.

关键词: 无人机(UAV), standoff跟踪, 协同控制, 非线性模型预测控制, 均方根误差

Abstract: A novel method for a random moving target coordinated standoff tracking was proposed to maximize the target position estimation precision by two unmanned aerial vehicles (UAVs) equipped with only bearing sensor. The analytical relationship model between the UAV observation geometry configuration and the root mean square error (RMSE) of target position estimation, which is chosen as performance index, was established, and thus the optimal UAV observation geometry configuration was obtained. Extended information filter was used to implement target states fusion and estimation. The optimal cooperative observation geometry configuration was implemented using online distributed nonlinear model predictive control (NMPC), considering the constraints of UAV platform dynamic performances, collision avoiding, and security distance. The simulation results demonstrated the pair of UAV effectively maintained the optimal observation geometry configuration and coordinated standoff target tracking performance in real-time.

Key words: unmanned aerial vehicle (UAV), standoff tracking, coordinated control, nonlinear model predictive control, root mean square error

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