双无人机协同测向时差定位的优化仿真

Optimal Simulation of AOA/TDOA Location by Two-UAVs

在双无人机协同对目标进行测向时差定位时,因常用的直接解析算法存在定位模糊,提出了一种基于坐标变换的目标位置求解算法,利用坐标变换对目标位置进行求解,消除了模糊的目标位置。为了减小观测误差的影响,给出了一种利用滤波算法提高定位精度的方法,利用滤波算法对多组测量数据进行融合后,再对目标进行定位估计。仿真结果表明,基于坐标变换的目标位置求解算法可以使目标在观测站的各个方位上都能得到无模糊的目标位置,同时验证了粒子滤波相对扩展卡尔曼滤波对定位精度的改善效果更好。

When two-UAVs is used to localize target,the problem of ambiguous location exists in direct analytical algorithm commonly used in AOA/TDOA. So this paper proposes a solving method based on coordinate transformation which is used to eliminate the ambiguous target location. To diminish the influence of observational error,it also gives out the algorithm of filters to improve the location precision. This algorithm can be used to fuse the sets of measurement data and then estimate the target position. Simulation results show that the solving method based on coordinate transformation can be used to get unambiguous target location on omnibearing observation stations,and the location precision of PF is better than one of extended Kalman filter.