Multi-UAV tracking mobile radiation source method based on position and velocity errors

Abstract

The invention discloses a method for tracking a mobile radiation source by multiple drones based on position and velocity errors, which solves the problem of tracking a mobile radiation source when the drones have position and velocity errors in two-dimensional space. The implementation steps of the present invention are: randomly select an unmanned aerial vehicle as the main machine, and the remaining unmanned aerial vehicles are auxiliary machines; calculate the time difference of arrival TDOA measurement value and the frequency difference FDOA measurement value of each auxiliary machine and the main machine; The difference between the distance between the drone and the radiation source and the distance between the host and the radiation source and the rate of change of the difference; estimate the position vector and velocity vector of the radiation source when there is a state error between the main and auxiliary drones; update the state vector of the radiation source; calculate the main , the optimal heading angle of the auxiliary UAV; each UAV independently selects a single-step flight trajectory. The invention uses the position and speed error of the drone to plan the optimal track of the drone, has a simple geometric positioning model, improves the tracking performance, and can be used for positioning and tracking of mobile radiation sources.

Description

technical field [0001] The invention belongs to the technical field of communication, and further relates to a method for tracking a mobile radiation source by multiple drones based on position and speed errors in the technical field of target tracking. The invention utilizes a plurality of unmanned aerial vehicles to locate a mobile radiation source moving at a uniform speed on the ground, thereby realizing tracking of the radiation source. Background technique [0002] The main task of multi-UAV passive positioning and tracking of mobile radiation sources is that multi-UAVs only receive electromagnetic signals emitted by radiation sources for data fusion processing and analysis, so as to realize the positioning and tracking of moving radiation sources. With the development of information science and communication technology, there are already a large number of positioning and tracking methods applied to the tracking of moving radiation sources. However, due to objective f...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies in the prior art above, the present invention proposes a multi-UAV tracking mobile radiation source method based on position and speed errors, aiming to solve the tracking situation when both the UAV and the radiation source are in a moving state, and in the The problem of accurate tracking of moving radiation sources in the presence of random errors in position and velocity of UAVs

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