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多传感器协同区域搜索与目标跟踪的调度方法

张昀普 付强 单甘霖 黄燕

张昀普,付强,单甘霖,等. 多传感器协同区域搜索与目标跟踪的调度方法[J]. 北京航空航天大学学报,2024,50(3):850-860 doi: 10.13700/j.bh.1001-5965.2022.0277
引用本文: 张昀普,付强,单甘霖,等. 多传感器协同区域搜索与目标跟踪的调度方法[J]. 北京航空航天大学学报,2024,50(3):850-860 doi: 10.13700/j.bh.1001-5965.2022.0277
ZHANG Y P,FU Q,SHAN G L,et al. Scheduling method for multi-sensor cooperative area search and target tracking[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(3):850-860 (in Chinese) doi: 10.13700/j.bh.1001-5965.2022.0277
Citation: ZHANG Y P,FU Q,SHAN G L,et al. Scheduling method for multi-sensor cooperative area search and target tracking[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(3):850-860 (in Chinese) doi: 10.13700/j.bh.1001-5965.2022.0277

多传感器协同区域搜索与目标跟踪的调度方法

doi: 10.13700/j.bh.1001-5965.2022.0277
详细信息
    通讯作者:

    E-mail:fq007895@163.com

  • 中图分类号: V556.6;TP212.9

Scheduling method for multi-sensor cooperative area search and target tracking

More Information
  • 摘要:

    为解决区域搜索和目标跟踪2种任务协同时对传感器资源的竞争问题,提出了一种多传感器调度方法。针对双任务协同背景,将传感器调度转换为多目标优化问题,以搜索性能和跟踪性能为优化目标建立了目标函数;建立了区域搜索模型,考虑目标的新生、消亡和转移,将未被发现目标的更新过程建立为非齐次泊松过程,提出以漏警损失量化区域搜索性能;建立了目标跟踪模型,引入后验克拉美罗下界(PCRLB)量化未来时刻的跟踪性能;针对最优调度方案求解,在传统多目标差分进化算法的基础上,引入混沌映射理论和双种群协同方法,提出了混沌映射-多目标协同差分进化算法(CM-MOCDEA)以提高寻优能力。仿真实验验证了所提优化算法能够兼顾收敛性和多样性,具有较强的全局搜索能力;所提方法能够有效分配传感器资源完成区域搜索和目标跟踪任务,从而获得较高的作战收益。

     

  • 图 1  任务场景

    Figure 1.  Mission scene

    图 2  精英解更新示意图

    Figure 2.  Schematic diagram of elite solution update

    图 3  仿真场景示意图

    Figure 3.  Schematic diagram of simulation scene

    图 4  不同算法对ZDT1的精英解

    Figure 4.  Elite solutions of different algorithms for ZDT1

    图 5  不同算法对ZDT2的精英解

    Figure 5.  Elite solutions of different algorithms for ZDT2

    图 6  不同算法对ZDT6的精英解

    Figure 6.  Elite solutions of different algorithms for ZDT6

    图 7  方法1和方法3的精英解

    Figure 7.  Elite solutions of method 1 and method 3

    图 8  不同调度方法的漏警损失

    Figure 8.  Missed alarm losses of different scheduling methods

    图 9  第30 s时监视区域未被发现目标的密度

    Figure 9.  Density of undetected targets in monitoring area at 30 s

    图 10  不同调度方法下对各目标的RMSE

    Figure 10.  RMSE of each target with different scheduling methods

    表  1  测试函数的相关参数

    Table  1.   Relevant parameters of test function

    函数
    名称
    函数形式 变量
    个数
    取值
    范围
    ZDT1 $ \begin{gathered} {f_1}\left( {\boldsymbol{x}} \right) = {x_1},{f_2}\left( {\boldsymbol{x}} \right) = g\left( {\boldsymbol{x}} \right)\left[ {1 - \sqrt {{{{x_1}} \mathord{\left/ {\vphantom {{{x_1}} {g\left( {\boldsymbol{x}} \right)}}} \right. } {g\left( {\boldsymbol{x}} \right)}}} } \right] \\ g\left( {\boldsymbol{x}} \right) = 1 + {{9\left( {\sum\limits_{i = 2}^h {{x_i}} } \right)} \mathord{\left/ {\vphantom {{9\left( {\sum\limits_{i = 2}^h {{x_i}} } \right)} {\left( {h - 1} \right)}}} \right. } {\left( {h - 1} \right)}} \\ \end{gathered} $ 30 $\left[ {0,1} \right]$
    ZDT2 $ \begin{gathered} {f_1}\left( {\boldsymbol{x}} \right) = {x_1},{f_2}\left( {\boldsymbol{x}} \right) = g\left( {\boldsymbol{x}} \right)\left\{ {1 - {{\left[ {\sqrt {{{{x_1}} \mathord{\left/ {\vphantom {{{x_1}} {g\left( {\boldsymbol{x}} \right)}}} \right. } {g\left( {\boldsymbol{x}} \right)}}} } \right]}^2}} \right\} \\ g\left( {\boldsymbol{x}} \right) = 1 + {{9\left( {\sum\limits_{i = 2}^h {{x_i}} } \right)} \mathord{\left/ {\vphantom {{9\left( {\sum\limits_{i = 2}^h {{x_i}} } \right)} {\left( {h - 1} \right)}}} \right. } {\left( {h - 1} \right)}} \\ \end{gathered} $ 30 $\left[ {0,1} \right]$
    ZDT6 $ \begin{gathered} {f_1}\left( {\boldsymbol{x}} \right) = 1 - \exp \left( { - 4{x_1}} \right){\sin ^6}\left( {6 \text{π} {x_1}} \right), \\ {f_2}\left( {\boldsymbol{x}} \right) = g\left( {\boldsymbol{x}} \right)\left\{ {1 - {{\left[ {{{{f_1}\left( {\boldsymbol{x}} \right)} \mathord{\left/ {\vphantom {{{f_1}\left( {\boldsymbol{x}} \right)} {g\left( {\boldsymbol{x}} \right)}}} \right. } {g\left( {\boldsymbol{x}} \right)}}} \right]}^2}} \right\} \\ g\left( {\boldsymbol{x}} \right) = 1 + 9{\left[ {{{\left( {\sum\limits_{i = 2}^h {{x_i}^2} } \right)} \mathord{\left/ {\vphantom {{\left( {\sum\limits_{i = 2}^h {{x_i}^2} } \right)} {\left( {h - 1} \right)}}} \right. } {\left( {h - 1} \right)}}} \right]^{0.25}} \\ \end{gathered} $ 10 $\left[ {0,1} \right]$
    下载: 导出CSV

    表  2  不同算法在不同测试函数下的性能指标值

    Table  2.   Performance index values of different algorithms with different test functions

    算法 GD IGD SP 运行时间/s
    ZDT1 ZDT2 ZDT6 ZDT1 ZDT2 ZDT6 ZDT1 ZDT2 ZDT6 ZDT1 ZDT2 ZDT6
    NSGA-Ⅱ 0.00612 0.00698 0.00801 0.01297 0.01310 0.01527 0.00834 0.00822 0.01065 0.62919 0.13297 0.55161
    MODEA 0.00741 0.00901 0.00884 0.01470 0.01545 0.01708 0.01021 0.01391 0.01365 0.64541 0.14346 0.58394
    CM-MOCDEA 0.00498 0.00413 0.00612 0.00841 0.01033 0.01152 0.00545 0.00603 0.00923 0.67934 0.16238 0.67920
    下载: 导出CSV
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出版历程
  • 收稿日期:  2022-04-25
  • 录用日期:  2022-07-13
  • 网络出版日期:  2022-07-21
  • 整期出版日期:  2024-03-27

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