有人/无人机协同系统的目标定位方法

Positioning approach based on cooperative system of manned/unmanned aerial vehicles

针对有人/无人机协同系统,首先,根据目标精确打击的任务特点对其组成和作战流程进行讨论,并将快速精确定位作为研究的核心问题;然后,引出基于观测向量投影点的目标定位方法,根据投影点分布的不同,建立完整的优化模型,并利用ISIGHT组合优化进行最优解的快速搜索;最后,利用地面站及三架无人机组成的模拟协同系统进行飞行试验.试验结果表明:本定位方法的计算精度和效率较高,平均误差在10m以内,耗时仅为0.76 s,相比传统单点定位和多点定位法具有一定的优势.并且通过验证定位误差是由测量输入误差所致的假设.

Focusing on the cooperative system of manned/unmanned aerial vehicles,the constitution and operational procedure were discussed firstly in terms of the characteristic of precision striking mission,and the positioning approach was regarded as the core issue.Secondly,an approach based on subpoint of observational vector was put forward,and the optimization model was built according to the distribution of subpoint.Then the searching process was executed by adopting the combinatorial optimization module in ISIGHT software.Finally,flight experiment was carried out to verify the effectiveness of the proposed approach.From the results,the positioning accuracy of the proposed method can be less than 10 m,and it takes only 0.76 s.The results illustrate that the combinatorial optimization is prior to global optimization and numerical optimization in some extend.Moreover,the reason of positioning deviation was analyzed.It can be seen that the distribution of the positioning deviation satisfies normal distribution,approximating closely with that of input deviation.