机载雷达多目标跟踪路径与驻留时间联合优化

Joint route planning and dwell time allocation algorithm for multiple targets tracking in UAV radar system

为了使无人机系统能够动态地协调自身的机动参数以及驻留时间分配参数,进而提升对空域中具有不同威胁程度目标的总跟踪精度,提出了一种针对多目标跟踪的无人机机载雷达路径与驻留时间的联合优化设计算法。推导了目标跟踪误差的贝叶斯克拉美-罗下界并将其作为目标跟踪精度表征指标;以不同威胁程度目标的BCRLB加权和为优化目标,以无人机系统机动性能限制以及总驻留时间资源有限为约束条件,建立了包含无人机运动速度、运动角度和驻留时间3个变量的优化模型;提出了一种基于障碍函数法、半正定规划算法和循环最小法的四步求解算法对上述优化模型进行了求解。仿真结果表明,相较于固定平台驻留时间优化分配算法,所提算法能够有效提升多目标跟踪精度,从而验证了算法的有效性和稳健性。

By coordinating the maneuvering parameters and dwell time allocation parameter of the unmanned aerial vehicle(UAV)system,a joint route planning and dwell time allocation algorithm is proposed for multiple targets tracking in UAV radar system,which can improve the tracking accuracy of multiple targets with different threat levels in airspace.The Bayesian Cramer-Rao Lower Bound of target tracking error is derived and utilized as the target tracking accuracy index.An optimization model containing three variables i.e.kinematic speed,kinematic direction and dwell time allocation,is established.In this model,the weighted sum of BCRLB of each target is set as the objective function,and the limitations of the UAV maneuvering performance and the total dwell time resources are set as the constraints.A four-step solution strategy based on obstacle function method,semidefinite programming algorithm and cyclic minimization algorithm is proposed to solve the resulting problem.Simulation results demonstrate that compared with the algorithm based on fixed platform,the proposed algorithm can effectively improve the multiple targets tracking accuracy,which verifies the validity and robustness of the algorithm.