GNSS拒止下面向目标监视的多无人机定位与控制方法

Multi-UAV Localization and Control Method for Target Surveillance with GNSS Denied

针对GNSS拒止环境下缺乏全局位置信息的静止目标持续监视问题,提出了一种仅基于方位角测量的多无人机分布式定位与控制方法。首先,设计一个无人机和目标之间的相对位置估计器,用来确定目标在每架无人机局部坐标系中的位置;其次,基于所估计的相对位置设计一个分布式控制算法,使无人机能够以规定的半径、圆周速度和无人机间的角度间隔围绕目标飞行,对目标持续进行全方位监视;最后,通过收敛性和稳定性分析理论证明了所提方法能够确保多无人系统收敛到期望的运动。通过仿真验证了所提方法能够实现GNSS拒止环境下多无人机对目标的持续监视。

Aiming at the problem of persistent surveillance of stationary targets without global position information in a GNSS-denied environment,a multi-UAV distributed localization and control method with bearing-only measurements is proposed.First,a relative position estimator between the UAV and the target is designed to locate the position of the target in the local coordinate system of each UAV.Secondly,a distributed control algorithm is designed based on the estimated relative position to enable the UAV to circle the target with prescribed radius,circular velocity and angular spacing between multiple UAVs.Finally,it is demonstrated by convergence and stability analysis theory that the proposed method can ensure the convergence of multiple unmanned system to the desired motion.The proposed method is validated by simulation to achieve continuous surveillance of the target by multiple UAVs in a GNSS-denied environment.