DC-IMM估计方法在多UAV协同目标跟踪中的应用

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英文篇名：Multi-UAV target tracking using DC-IMM estimate method 作者：石晓航 ; 梁青阳 ; 张庆杰 ; 王俊生 ; 沈锡强 英文作者：SHI Xiaohang,LIANG Qingyang,ZHANG Qingjie,WANG Junsheng,SHEN Xiqiang(Department of Aircraft Control,Aviation University of Air Force,Changchun 130022,China) 关键词：分布式估计 ; 目标跟踪 ; 一致性 ; 交互多模型 英文关键词：distributed estimation;target tracking;consensus;interacting multiple model 中文刊名：ZNGD 英文刊名：Journal of Central South University(Science and Technology) 机构：空军航空大学飞行器控制系; 出版日期：2013-07-26 出版单位：中南大学学报(自然科学版) 年：2013 期：v.44 基金：国家自然科学基金资助项目(61203355) 语种：中文; 页：ZNGD2013S2010 页数：6 CN：S2 ISSN：43-1426/N 分类号：55-60

摘要

针对分布式多UAV协同目标跟踪问题,考虑其具有局部通信和目标运动模型变化的特点,提出了一种基于分布式一致性策略的交互多模型(DC-IMM)估计方法。首先,建立了马尔科夫跳变的跟踪问题模型;其次,提出了DC-IMM估计方法,并给出了算法流程;最后,通过仿真实验,验证了该方法的有效性。仿真结果表明,该方法可以满足目标模型变化的跟踪问题要求,而且估计误差较小,可以基本达到与集中式跟踪方法相当的效果。
        As to the problem of distributed multi-UAV collaborative target tracking,considering the characteristics of the local communication and the target motion model changes,an estimation method based on distribution consensus and interacting multiple model(DC-IMM) is proposed.First,a target tracking model with the jump Markov characteristic is established;secondly,the DC-IMM estimate method and its process are presented;finally,the effectiveness of the method is proved by simulation.The simulation results show that the proposed method can meet the requirement of target model change tracking problem,the estimated error is small and the tracking result can be comparable to the centralized method.

引文

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