飞控与探测2024，Vol.7Issue(4)：17-25,9.
基于纯方位测量信息的多无人机协同目标跟踪
Collaborative Target Tracking of Multiple UAVs with Bearing-only Measurements
摘要
Abstract
Aiming at the problems of asynchronous information fusion and multi-platform cooperative positioning when multi-UAV formation based on pure azimuth observation information for cooperative positioning and tracking the target,a linear pseudo-measurement model is proposed. The linear relationship between the target position and the measurement po-sition is established through geometric derivation. Under the assumption of constant acceleration motion of the target,the data fusion of multi-platform asynchronous azimuth information is realized by using the Kalman filter,and the target motion state is accurately estimated. At the same time,a state update strategy based on event triggering is designed for the state estimator. To realize the state estimation of distributed computing,a global fusion method of asynchronous local state estimation results is designed according to the principle of covariance crossing. Finally,the effectiveness of the proposed al-gorithm is verified by simulation experiments,and it is proved that the proposed asynchronous data state estimation method has better convergence speed and accuracy than the pseudo-synchronous extended Kalman filter method under the condition of continuous changes in target velocity.关键词
纯方位/异步数据融合/卡尔曼滤波/协同定位/状态估计/轨迹跟踪Key words
bearing-only/asynchronous data fusion/Kalman filtering/cooperative localization/state estimation/trajectory tracking分类
航空航天引用本文复制引用
吴桐,李湛,郑晓龙,孙一勇,张洪梅..基于纯方位测量信息的多无人机协同目标跟踪[J].飞控与探测,2024,7(4):17-25,9.基金项目
国家自然科学基金面上项目(62273122) （62273122）
黑龙江省自然科学基金优秀青年项目(YQ2023F009) （YQ2023F009）
