面向多飞行器的一致性协同估计方法

Cooperative estimation method for multiple flight vehicles based on consensus theory

针对多飞行器协同拦截机动目标过程中的目标状态估计问题,提出了一种多飞行器对目标加速度的一致性协同估计方法。构建了多飞行器分布式协同估计结构,将扩张状态观测器和一致性理论相结合,设计了分布式协同一致性估计器。利用扩张状态观测器对目标状态进行估计,在此基础上利用一致性理论为各飞行器设计协调控制量,通过局部信息交换使得各飞行器得到一致的估计值,实现对目标加速度的精确估计。利用稳定性判定理论对一致性估计器的误差和收敛性能进行了分析,并将设计的一致性协同估计方法应用到协同拦截系统中进行了仿真验证。仿真结果显示,在不同的目标机动形式下,对目标加速度估计误差始终小于0.5 m/s^2,因此设计的一致性估计方法能够实现对目标加速度的精确估计,且具有较强的鲁棒性。

In view that multiple flight vehicles has the target state estimation problem in the process of cooperatively intercepting maneuver target, a cooperative target-acceleration estimation method for target acceleration is proposed based on consensus theory. The distributed cooperative estimation structure of multi-aircrafts is constructed, and the distributed collaborative consensus estimator is designed by combining an expansion state observer with the consensus theory. On the basis of estimating the target state by the expansion state observer, the coordinated control variables are designed for each aircraft with the consensus theory. Through local information exchange, the aircrafts obtain consistent estimation values and realize accurate estimation of the target acceleration. Based on the stability judgement theory, the estimation errors and convergence performance of the consensus estimator are analyzed, and simulation verification is carried out by applying the designed consensus-based cooperative estimation method in the cooperative interception system. Simulation results show that the estimation errors are always less than 0.5 m/s2 under various target maneuver situations, showing that the proposed consensus estimation method could provide accurate estimation of the target acceleration and has strong robustness.