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Heterogeneous unmanned aerial vehicle cluster target tracking system and method based on biosocial force

A target tracking and UAV technology, which is applied in the field of heterogeneous UAV cluster target tracking system, can solve the problems of limited detection range of sensors, easy tracking of targets, poor maneuverability, etc.

Active Publication Date: 2019-04-12
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

Using bio-social forces to design the control rate, realize the tracking of the target by the heterogeneous UAV cluster system, so as to solve the problems of poor maneuverability, easy to follow the target and limited detection range of the sensor in single UAV target tracking.

Method used

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  • Heterogeneous unmanned aerial vehicle cluster target tracking system and method based on biosocial force
  • Heterogeneous unmanned aerial vehicle cluster target tracking system and method based on biosocial force
  • Heterogeneous unmanned aerial vehicle cluster target tracking system and method based on biosocial force

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Embodiment Construction

[0101] The effectiveness of the system and method thereof proposed by the present invention is verified below by three specific examples, and the specific steps of the system and method are as follows:

[0102] Step 1: UAV state modeling

[0103] Assume that the UAV has an underlying controller, is capable of maintaining altitude, and is able to track desired attitude, desired speed, and desired turn rate. At this time, the state quantities speed, heading angle and altitude of the inner loop controller become the input of the outer loop controller, and the 12th-order state equation of the UAV can be simplified to a 6th-order state equation, expressed as follows:

[0104]

[0105] With 3 drone clusters (each cluster has 15 drones), the initial position is [0,0]m, the speed is 5m / sm, and the trajectory is a circular arc (the radius is 150m, 150m and 80m3 segments respectively The simulation is performed in the scene of cooperative tracking of the target composed of end-to-en...

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Abstract

The invention discloses a heterogeneous unmanned aerial vehicle cluster target tracking system and method based on biosocial force. The target tracking system includes a cluster hardware system architecture, a cluster software system architecture, a cluster communication system architecture and a cluster flight management and control system. The method comprises the following steps that 1, modeling of an unmanned aerial vehicle state is carried out; 2, a consistency protocol is designed; 3, unmanned aerial vehicle control instructions are designed based on a phase difference consistency algorithm; 4, trajectory tracking based on non-linear guidance is carried out; 5, a heterogeneous unmanned aerial vehicle cluster system based on the biosocial force is described; and 6, heterogeneous unmanned aerial vehicle cluster target tracking based on the biosocial force is carried out. The heterogeneous unmanned aerial vehicle cluster target tracking system and method based on the biosocial forcehas the advantages that the heterogeneous unmanned aerial vehicle cluster target tracking is realized, the speed of controlling an unmanned aerial vehicle to gradually converge to an expected path isincreased, and the system of the whole target tracking system is complete, the functions are perfect, and the verification of targets in different task scenes can be realized.

Description

technical field [0001] The invention relates to a heterogeneous unmanned aerial vehicle cluster target tracking system and method based on biological social forces, belonging to the field of unmanned aerial vehicle navigation and control. Background technique [0002] Due to its low cost, high mobility, flexible deployment and "zero casualties", UAVs are widely used in many fields such as military and civilian use. However, when a single UAV performs tasks such as military surveillance and reconnaissance and large-scale disaster scene search and rescue, it faces the risk of mission failure due to unfavorable factors such as wide mission area, complex and changeable environment, limited sensor perception ability, and single node failure. , which also promotes the transformation of the "UAV platform-centric" traditional research and application model to the "network-centric" multi-UAV collaborative model, that is, by integrating the environment perception of multiple UAVs Cap...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05D1/12
CPCG05D1/104G05D1/12
Inventor 段海滨申燕凯邓亦敏李沛陈琳赵建霞杨庆
Owner BEIHANG UNIV
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