多无人机协同目标跟踪制导律设计

Multi-UAV Cooperative Target Tracking and Guidance Law Design

多无人机在协同跟踪地面移动目标上具有鲁棒性强、侦查精度高、任务效率高等优点,因此具备重要的研究意义。为了解决传感器信息受限存在的局限性,如何利用尽可能少的目标状态信息实现对目标的稳定跟踪是当前固定翼无人机实现定距盘旋跟踪的主要问题之一。首先,针对地面目标,设计了一种基于距离变化率的无人机定距盘旋跟踪制导律,相比于其他制导律所需的目标信息更容易获取;其次,在跟踪稳定的基础上,为了解决单无人机可能存在视线被干扰丢失目标的情况,设计了邻机之间相位差相等的多无人机协同制导律,将两个制导律相结合形成的多无人机协同目标跟踪制导律,用以解决多无人机协同目标跟踪制导问题;再次,设计了相应的李雅普诺夫函数,证明多无人机协同跟踪闭环系统的稳定性;最后,通过对变速移动目标的跟踪实验仿真,其结果验证了该方案的有效性与可行性。

The multi-unmanned aerial vehicles(UAV)have the advantages of strong robustness,high detection accuracy,and high mission efficiency in the cooperative tracking of ground-moving targets,and therefore have significant research impacts.To solve the limitations of sensor information,how to use as little target state information to effectively achieve stable tracking of targets has become one of the critical problems where fixed-wing UAVs shall achieve fixed-range hover tracking.Based on tracking stability,a multi-UAV cooperative guidance law with an equal phase difference between neighbouring aircraft was designed to solve the problem of multi-UAV cooperative target tracking.It was generated by combining the two laws to form a multi-UAV cooperative target tracking and guidance law.Finally,the experimental simulation results of tracking variable-speed moving targets have verified the effectiveness and feasibility of the scheme,which is critical to the cooperative target tracking of multi-UAV.