This research is concerned with coordinated standoff tracking, and a guidance law against a moving target is proposed by using differential geometry. We first present the geometry between the unmanned aircraft(UA) and...This research is concerned with coordinated standoff tracking, and a guidance law against a moving target is proposed by using differential geometry. We first present the geometry between the unmanned aircraft(UA) and the target to obtain the convergent solution of standoff tracking when the speed ratio of the UA to the target is larger than one. Then, the convergent solution is used to guide the UA onto the standoff tracking geometry. We propose an improved guidance law by adding a derivative term to the relevant algorithm. To keep the phase angle difference of multiple UAs, we add a second derivative term to the relevant control law. Simulations are done to demonstrate the feasibility and performance of the proposed approach. The proposed algorithm can achieve coordinated control of multiple UAs with its simplicity and stability in terms of the standoff distance and phase angle difference.展开更多
An observation-driven method for coordinated standoff target tracking based on Model Predictive Control(MPC)is proposed to improve observation of multiple Unmanned Aerial Vehicles(UAVs)while approaching or loitering o...An observation-driven method for coordinated standoff target tracking based on Model Predictive Control(MPC)is proposed to improve observation of multiple Unmanned Aerial Vehicles(UAVs)while approaching or loitering over a target.After acquiring a fusion estimate of the target state,each UAV locally measures the observation capability of the entire UAV system with the Fisher Information Matrix(FIM)determinant in the decentralized architecture.To facilitate observation optimization,only the FIM determinant is adopted to derive the performance function and control constraints for coordinated standoff tracking.Additionally,a modified iterative scheme is introduced to improve the iterative efficiency,and a consistent circular direction control is established to maintain long-term observation performance when the UAV approaches its target.Sufficient experiments with simulated and real trajectories validate that the proposed method can improve observation of the UAV system for target tracking and adaptively optimize UAV trajectories according to sensor performance and UAV-target geometry.展开更多
基金Project supported by the National Natural Science Foundation of China(Nos.61273327 and 71201076)the Key Pre-research Fund of the PLA General Armament Department(No.9140A06050213BQX)the Natural Science Foundation of Jiangsu Province,China(No.BK2011564)
文摘This research is concerned with coordinated standoff tracking, and a guidance law against a moving target is proposed by using differential geometry. We first present the geometry between the unmanned aircraft(UA) and the target to obtain the convergent solution of standoff tracking when the speed ratio of the UA to the target is larger than one. Then, the convergent solution is used to guide the UA onto the standoff tracking geometry. We propose an improved guidance law by adding a derivative term to the relevant algorithm. To keep the phase angle difference of multiple UAs, we add a second derivative term to the relevant control law. Simulations are done to demonstrate the feasibility and performance of the proposed approach. The proposed algorithm can achieve coordinated control of multiple UAs with its simplicity and stability in terms of the standoff distance and phase angle difference.
基金supported in part by the National Natural Science Foundation of China(Nos.62022092 and 61790550).
文摘An observation-driven method for coordinated standoff target tracking based on Model Predictive Control(MPC)is proposed to improve observation of multiple Unmanned Aerial Vehicles(UAVs)while approaching or loitering over a target.After acquiring a fusion estimate of the target state,each UAV locally measures the observation capability of the entire UAV system with the Fisher Information Matrix(FIM)determinant in the decentralized architecture.To facilitate observation optimization,only the FIM determinant is adopted to derive the performance function and control constraints for coordinated standoff tracking.Additionally,a modified iterative scheme is introduced to improve the iterative efficiency,and a consistent circular direction control is established to maintain long-term observation performance when the UAV approaches its target.Sufficient experiments with simulated and real trajectories validate that the proposed method can improve observation of the UAV system for target tracking and adaptively optimize UAV trajectories according to sensor performance and UAV-target geometry.
