基于TDOA的多机协同闭环最优控制方法
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摘要
为了提高多机协同跟踪时差无源定位的精度,在分析最优布站方式的基础上提出一种闭环最优控制方法。首先,推导几何精度因子表达式,然后在无人机性能、通信距离和安全距离的约束下,通过仿真分析不同布站方式对几何精度因子的影响,归纳总结3点结论,从而提出针对单目标的最优布站方式,最终结合扩展信息滤波算法和2维分配模型,利用闭环最优控制方法解决TDOA定位体制下多机协同跟踪问题。仿真结果表明,所提方法能够使各观测站按照最优布站位置对目标进行协同定位跟踪,有效提高目标定位精度,证明了方法的有效性。
To improve the accuracy of passive localization of multiple Unmanned Aerial Vehicles( UAVs)in collaborative tracking, a closed-loop optimal control method is proposed based on analysis of the optimal station arrangement modes and Time Differences of Arrival( TDOA) measurements. First, the expression of Geometrical Dilution of Precision( GDOP) is derived. Then, simulation analysis is made to the influence of different observation station arrangement modes on GDOP under the constraints of UAV characteristics,communication range and safe distance. Three conclusions are summarized, and the optimal arrangement for single target is proposed. Finally, based on Extended Information Filter( EIF) and two-dimensional distribution model, the closed-loop optimal control method is used to solve the collaborative tracking of multiple UAVs with TDOA measurements. Simulation results indicate that, through the proposed method, the observation stations can implement target tracking collaboratively according to the optimal station location,and the accuracy of target localization is improved.
To improve the accuracy of passive localization of multiple Unmanned Aerial Vehicles( UAVs)in collaborative tracking, a closed-loop optimal control method is proposed based on analysis of the optimal station arrangement modes and Time Differences of Arrival( TDOA) measurements. First, the expression of Geometrical Dilution of Precision( GDOP) is derived. Then, simulation analysis is made to the influence of different observation station arrangement modes on GDOP under the constraints of UAV characteristics,communication range and safe distance. Three conclusions are summarized, and the optimal arrangement for single target is proposed. Finally, based on Extended Information Filter( EIF) and two-dimensional distribution model, the closed-loop optimal control method is used to solve the collaborative tracking of multiple UAVs with TDOA measurements. Simulation results indicate that, through the proposed method, the observation stations can implement target tracking collaboratively according to the optimal station location,and the accuracy of target localization is improved.
引文
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[2] FLUCKIGER M,NEILD A,NELSON B J. Optimization ofreceiver arrangements for passive emitter localizationmethods[J]. Ultrasonics,2012,52(3):447-455.
[3] GHOLAMI M,CAI N,BRENNAN R W. Evaluating alter-native approaches to mobile object localization in wirelesssensor networks with passive architecture[J]. Computersin Industry,2012,63(9):941-947.
[4]王莹桂,陈振林,李腾,等.三星时差定位系统的主要系统误差分析[J].飞行器测控学报,2010,29(1):85-89.
[5]杨丽丽,孙晓闻.无人机载多站无源定位系统精度分析[J].中国电子科学研究院学报,2014,9(4):348-352.
[6]王瀚,钟丹星,周一宇.不规则布站时差定位系统定位精度分析[J].现代电子技术,2007,30(7):19-21.
[7] FREW E W. Receding horizon control using random searchfor UAV navigation with passive,non-cooperative sensing[C]//AIAA Guidance,Navigation,and Control Conferenceand Exhibit,2005:AIAA2005-5864.
[8]张胜祥,裴海龙,刘保罗,等.基于滚动时域优化的无人飞行器轨迹规划[J].计算机工程与应用,2008,44(35):237-239.
[9]冉华明,周锐,吴江,等.双机协同无源目标跟踪轨迹优化[J].北京航空航天大学学报,2015,41(1):160-166.
[10]邱斌,周锐,董卓宁.考虑信息成功传递概率的多无人机协同目标最优观测与跟踪[J].控制与决策,2016,31(4):616-622.
[11] ANDREW J S,RICHARD J P,DAVID E J. Optimal andfeedback path planning for cooperative attack[J]. Jour-nal of Guidance,Control,and Dynamics,2008,31(6):1708-1715.
[12]钟春梅,赵振宇,孙海波,等.多无人机协同目标跟踪闭环最优控制方法[J].探测与控制学报,2012,34(3):13-18.