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Multi-unmanned aerial vehicle formation Standoff tracking control and tracking method based on double-virtual structure

A virtual structure and multi-UAV technology, applied in the field of UAV target tracking, can solve problems such as prolonging time and complicating algorithm design, and achieve the effect of simplifying difficulty, increasing actual engineering value, and simplifying complexity

Active Publication Date: 2020-06-16
NAVAL AVIATION UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

However, the above two methods have their own disadvantages. The former performs phase adjustment between UAVs after all UAVs reach the tracking circle, which prolongs the time to realize cooperative tracking; the latter is mainly based on the leader-follower structure, and UAVs are designed separately. The formation guidance law between the leader (virtual leader) and the leader (virtual leader) tracking target guidance law, the algorithm design of this method is complicated

Method used

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  • Multi-unmanned aerial vehicle formation Standoff tracking control and tracking method based on double-virtual structure
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  • Multi-unmanned aerial vehicle formation Standoff tracking control and tracking method based on double-virtual structure

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Embodiment

[0108] In this embodiment, four UAVs are used to track a maneuvering target as an example for verification.

[0109] The initial parameters of the four UAVs are shown in Table 1:

[0110] Table 1 Initial conditions of each unmanned simulation

[0111]

[0112]

[0113] UAV l The initial velocity v l is (20,0) T m / s; UAV b The relevant parameters are set to r s =50m, θ b = 0, ω 0 =(20 / r s )rad / s; control coefficient k 1 = 3,k 2 =2. The acceleration of the target in 0~12s is [5sin t, 5cos t] T m / s 2 , after 12s the acceleration is [4cos t,4sin t] T m / s 2 . The communication topology relationship between UAVs is as follows: Figure 5 shown, namely

[0114]

[0115] Simulation results such as Figure 6 to Figure 10 shown.

[0116] Image 6 Trajectory diagram for Standoff tracking of a maneuvering target by a multi-UAV formation, 4 UAVs start from their respective initial positions, and the UAV l The target is tracked under the guidance of the target, ...

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Abstract

The invention discloses a multi-unmanned aerial vehicle formation Standoff tracking control method based on a double-virtual structure, and the method comprises the following steps: introducing a virtual UAV 1 as a virtual leader of formation; introducing another virtual UAVb as a reference of formation target tracking control; and constructing a tracking parameter group for tracking control. According to the tracking control method, UAV formation cooperative target Standoff tracking is described by constructing a tracking parameter group, and tracking conditions are converted into design of the parameter group, so the method is more intuitive and clearer. On the basis of the tracking control method, the invention further discloses a tracking method, Standoff tracking of the target can beachieved only through one control law, the complexity of a tracking algorithm is greatly simplified, and the tracking method has high practical engineering value.

Description

technical field [0001] The invention belongs to the field of target tracking of unmanned aerial vehicles, and mainly relates to a control method for a multi-unmanned aerial vehicle formation to perform Standoff tracking on a target, and a tracking method based on a corresponding control method, in particular to a dual-virtual structure-based Multi-UAV formation Standoff tracking control and tracking method. Background technique [0002] Target tracking by UAV (unmanned aerial vehicle, UAV) is one of the important tasks of UAV. Standoff tracking is an important tracking method of target tracking. This method requires a certain distance between the UAV and the target, and the UAV performs a fixed-distance hovering motion around the target. With the increase of task difficulty and the complexity of the environment, it is difficult for a single UAV to meet the actual combat needs. Therefore, the study of multi-UAV cooperative missions is becoming more and more popular. [0003...

Claims

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Application Information

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IPC IPC(8): G05D1/10G05D1/12
CPCG05D1/104G05D1/12Y02T10/40
Inventor 张毅杨秀霞方国伟杨士锋严瑄高恒杰
Owner NAVAL AVIATION UNIV
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