两无人机远视角和近视角协同跟踪地面目标的航线仿真
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摘要
目前大多数无人机(UAV)跟踪地面目标都利用单个UAV进行跟踪,现研究采用两个UAV对地面目标进行跟踪.每一个UAV都有各自的指引规则,近距离跟踪UAV的指引规则要求持续在目标上方飞行,有最佳的飞行耐久性.远距离跟踪UAV的指引规则要求对目标有固定的距离和高度,能够反复监视,保证对地面目标最大的可视性.由于设定两个UAV处于较大间距的不同高度,两UAV发生碰撞的可能性非常小.仿真实验利用有明显标志的汽车作为跟踪目标,背景环境较为单一,两UAV的航线表明,在有风和无风、目标静止和运动的情况下,其航线均有一定规律可循,从跟踪效果看,两UAV取得了明显的协同效果.
Single unmanned aerial vehicles(UAV)is usually used track ground targets in most cases.In this paper,two UAV have been used to track ground targets.Each UAV has its own rules of guidelines.The rule of close-track UAV requires sustained fly above the target and the durability must be best.The rule of long-distance-track requires the fixed distance and height between the UAV and the target.And the target can be tracked again and again.The visibility of target on the ground must be maximized.Since the two UAV are set on different height,the distance between the two flat is quite large to avoid the possibility of the collision.A clearly marked car is used as a tracking target in the simulation.And the background environment is quite single.The rule of the routing of the two UAV can be followed under conditions of wind and none-wind,target-moving and target-still.The synergistic effect is obvious from the tracking performance.
Single unmanned aerial vehicles(UAV)is usually used track ground targets in most cases.In this paper,two UAV have been used to track ground targets.Each UAV has its own rules of guidelines.The rule of close-track UAV requires sustained fly above the target and the durability must be best.The rule of long-distance-track requires the fixed distance and height between the UAV and the target.And the target can be tracked again and again.The visibility of target on the ground must be maximized.Since the two UAV are set on different height,the distance between the two flat is quite large to avoid the possibility of the collision.A clearly marked car is used as a tracking target in the simulation.And the background environment is quite single.The rule of the routing of the two UAV can be followed under conditions of wind and none-wind,target-moving and target-still.The synergistic effect is obvious from the tracking performance.
引文
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[2]王林,彭辉,朱华勇,等.应用无人机跟踪地面目标——最新研究进展[J].系统仿真学报,2010,22(s1):172-177.
[3]李德仁,李明.无人机遥感系统的研究进展与应用前景[J].武汉大学学报(信息科学版),2014,39(5):505-513.
[4]王勋.无人机自主跟踪地面运动目标方法与试验研究[D].长沙:国防科学技术大学,2012.
[5]MA L,CAO C,HOVAKIMYAN N,et al.Adaptive Vision-Based Guidance Law With Guaranteed Performance Bounds[J].Journal of Guidance Control&Dynamics,2010,33(3):834-852.
[6]王勋,孔维玮,张代兵,等.无人机跟踪地面非合作目标的分段引导与控制方法[J].中国科学技术大学学报,2012,42(9):733-738.
[7]冯慧成,符小卫.无人机跟踪低速目标算法设计[C]//2009中国自动化大会暨两化融合高峰会议.2009.
[8]YANG C Y,CHEN B S,LIAO F K.Mobile Location Estimation Using Fuzzy-Based IMM and Data Fusion[J].IEEE Transactions on Mobile Computing,2010,9(10):1424-1436.
[9]HO T J,CHEN Z H.Mobile Location Estimation in Urban Areas Using Fuzzy-Tuned IMM Algorithm[C]//Wireless Communications&Signal Processing(WCSP),2012International Conference on.
[10]AL-JEMELI M,HUSSIN A F A.On Location Estimation Methods for Mobile Wireless Sensor Nodes[J].Research Journal of Applied Sciences Engineering&Technology,2014,8(1):124-130.
[11]石晓航,梁青阳,张庆杰,等.DC-IMM估计方法在多UAV协同目标跟踪中的应用[J].中南大学学报(自然科学版),2013,14(2):169-174.
[12]辛哲奎.基于视觉的小型无人直升机地面目标跟踪技术研究[D].天津:南开大学,2010.
[13]KIM Z W,SENGUPTA R.Target Detection and Position Likelihood Using an Aerial Image Sensor[J].Proceedings IEEE International Conference on Robotics&Automation,2008,17(2):59-64.
[14]RAHMAN S,RAHMAN S.Probability Distributions of Natural Frequencies of Uncertain Dynamic Systems[J].Aiaa Journal,2012,47(6):1579-1589.
[15]REGINA N,ZANZI M.A Novel Solution for Overflight and Surveying of a Collaborative Target with Fixed Wing UAV[C]//Proceedings of Guidance Navigation and Control Conference,2012.
[16]DOBROKHODOV V N,KAMINER I I,JONES K D,et al.Vision-Based Tracking and Motion Estimation for Moving Targets Using Unmanned Air Vehicles[J].Journal of guidance,control,and dynamics,2008,31(4):907-917.
[17]NING J,ZHANG L,ZHANG D,et al.Robust Mean-Shift Tracking with Corrected Background-Weighted Histogram[J].Omr Von,2012,17(1):62-69.
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