仅使用距离量测的多无人机协同环绕未知目标

Cooperative circumnavigating of unknown target by multi-UAV using only distance measurements

针对全球定位系统(GPS)拒止环境下多架无人机(UAV)对未知目标的协同环绕导航控制问题,提出了一种仅使用距离量测的分布式控制器。与现有的多数算法不同,该控制器不需要无人机及目标的位置信息。首先假设实际距离和距离变化率可用的情况下,设计了一种制导控制器驱动单架无人机环绕目标运动。其次利用二阶滑模观测器在有限时间内完成距离变化率的估计来代替实际距离变化率。观测器的设计使用实际距离量测信息,使得无人机仅利用距离量测即可完成环绕任务。然后在距离环绕控制器的基础上,利用有限时间观测器和距离量测信息完成相对位置估计,进而设计速度协调算法来实现多架无人机对目标的均匀环绕。最后,通过数字仿真和半实物(HIL)仿真验证了方法的有效性。

This paper proposes a distributed controller that utilizes only distance measurements to address the problem of cooperative circumnavigating an unknown target by Multi-Unmanned Aerial Vehicle(UAV)in a Global Position System(GPS)denial environment.Unlike most existing algorithms,this controller does not require location information of UAV and target.Firstly,a novel guidance control algorithm is designed to drive a single UAV to circle around the target by assuming that the actual distance measurement and the distance rate measurement are available.Secondly,a second-order sliding mode observer is utilized to complete the estimation of the distance rate in a finite time instead of the distance rate measurement.The observer is designed by using distance measurement information,allowing the UAV to complete the circumnavigation mission using only distance measurement.Then,on the basis of the designed distance circling controller,the finite time observer and the distance measurement information are used to complete the relative position estimation,and then a velocity coordination algorithm is developed to realize the uniform circumnavigation of the target by multiple UAVs.Finally,the numerical and Hardware-in-the-Loop(HIL)simulation results verify the effectiveness of the proposed method.