基于一致性的多UUV协同目标跟踪算法

Multi-UUV Collaborative Target Tracking Algorithm Based on Consensus

针对分布式多UUV协同目标跟踪问题,考虑到其具有局部通信和目标运动模型变化的特点。提出了基于一致性的交互多模型目标跟踪算法。首先,建立了跟踪问题的模型;其次,提出了一致性交互多模型目标跟踪算法,并给出了算法的流程;最后,通过仿真实验,验证了该算法的有效性。结果表明,该算法可以满足对目标运动模型变化的跟踪问题的要求,当被跟踪目标的运动模型发生变化时,仍能较精确地对目标进行跟踪。

To the problem of distributed multi-UUV target tracking,which has the characteristics of the local communication and the changes of target motion model,a target tracking method based on consensus strategy and interacting multiple model is proposed.Firstly,a target tracking system is established.Secondly,the target tracking method and its process are presented.Finally the effectiveness of the method is proved by simulation.The results show that this method can meet the requirement of tracking the target motion model which changes with time,and the estimation error is small.