指定域多无人机协同目标跟踪研究
2023,31(3):201-207
摘要：由于战场环境日益复杂、对抗性日益增强、任务日益多样和单机能力受限特性，多无人机协同执行作战任务已经成为无人机系统应用的重要发展趋势；针对协同作战中的系统复杂性、时间敏感性和通信计复杂性等特点进行分析，结合无人机运动性能及自主协同控制能力提出指定域多无人机协同目标跟踪的研究模型；首先建立面向战术任务的多无人机协同目标跟踪模型，其次在指定域范围内对多无人机进行面向持续跟踪模型的优化，最后选取一定数量的无人机在指定域内进行仿真，实验结果表明：面向持续的指定域多无人机协同目标跟踪模型是有效的，且具有较好的目标状态估计性能。
关键词：指定域；多无人机；协同目标跟踪；自主控制；持续跟踪
Specify domain Multi-drone collaborative target tracking study
Abstract：Due to the increasingly complex battlefield environment, increasing confrontation, increasingly diverse tasks and limited single-machine capabilities, multi-UAV(Unmanned Aerial Vehicle) collaborative combat missions have become an important development trend in the application of unmanned aerial systems; in view of the characteristics of system complexity, time sensitivity and communication meter complexity in collaborative operations, combined with the motion performance and autonomous collaborative control capabilities of UAVs, a research model for coordinated target tracking of multiple UAVs in designated domains is proposed; first of all, a multi-UAV collaborative target tracking model for tactical tasks is established. Secondly, in the specified domain scope of the multi-UAV optimization of the Continuous tracking model, and finally select a certain number of UAV in the specified domain for simulation, the experimental results show that the specified domain multi-UAV collaborative target tracking model for The Persistent is valid and has good target state estimation performance.
Key words：Designated domains; Multi-drone; coordinated target tracking; autonomous control; Persistent tracking
收稿日期：2022-05-10
基金项目：基于区域导航的目视飞行程序设计和批准研究指南(14002600100015J013); 四川省大学生创新创业训练计划(202210624005)；
