基于TDOA的多机协同闭环最优控制方法

A TDOA Based Closed-Loop Optimal Control Method for Multiple UAVs

为了提高多机协同跟踪时差无源定位的精度,在分析最优布站方式的基础上提出一种闭环最优控制方法。首先,推导几何精度因子表达式,然后在无人机性能、通信距离和安全距离的约束下,通过仿真分析不同布站方式对几何精度因子的影响,归纳总结3点结论,从而提出针对单目标的最优布站方式,最终结合扩展信息滤波算法和2维分配模型,利用闭环最优控制方法解决TDOA定位体制下多机协同跟踪问题。仿真结果表明,所提方法能够使各观测站按照最优布站位置对目标进行协同定位跟踪,有效提高目标定位精度,证明了方法的有效性。

To improve the accuracy of passive localization of multiple Unmanned Aerial Vehicles(UAVs)in collaborative tracking,a closed-loop optimal control method is proposed based on analysis of the optimal station arrangement modes and Time Differences of Arrival(TDOA)measurements.First,the expression of Geometrical Dilution of Precision(GDOP)is derived.Then,simulation analysis is made to the influence of different observation station arrangement modes on GDOP under the constraints of UAV characteristics,communication range and safe distance.Three conclusions are summarized,and the optimal arrangement for single target is proposed.Finally,based on Extended Information Filter(EIF)and two-dimensional distribution model,the closed-loop optimal control method is used to solve the collaborative tracking of multiple UAVs with TDOA measurements.Simulation results indicate that,through the proposed method,the observation stations can implement target tracking collaboratively according to the optimal station location,and the accuracy of target localization is improved.