CN109976386A - A kind of method and system of multiple no-manned plane collaboration tracking target - Google Patents
A kind of method and system of multiple no-manned plane collaboration tracking target Download PDFInfo
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Abstract
This application discloses a kind of multiple no-manned plane cooperate with tracking target method and system, comprising: S1 obtains the speed and location information of target, is broadcast to other each unmanned planes, receive other unmanned planes transmission target velocity information and location information go forward side by side row information fusion；S2 multiple no-manned plane respectively determines tracking mode according to the velocity information of fused target；S3 multiple no-manned plane respectively according to the navigation information of itself and other unmanned planes, speed, location information and the tracking mode of target, calculates final guidance vector；The speed and location information of each self refresh target of S4 multiple no-manned plane, are broadcast to other unmanned planes, receive other unmanned planes transmission target information go forward side by side row information fusion, return S2.By calculating target velocity in real time, determines tracking mode, strengthen tracking ability, prevent target from escaping by speed change；By collision detection and guidance vector correction, evade the obstacle or other unmanned planes in flight course, prevents flight collision and conflict, improve safety.
Description
Technical field
This application involves the autonomous trajectory planning technical field of unmanned plane more particularly to a kind of multiple no-manned plane collaboration tracking mesh
Calibration method and system.
Background technique
Multiple no-manned plane cooperates with trajectory planning technology, is to meet multiclass constraint condition according to the specific tasks of each unmanned plane
Under the premise of (platform property constraint, battlefield surroundings constraint, task cooperation constraint), cook up for every frame unmanned plane from starting point
To target point can flight mark, reach optimal or preferably performance indicator.Compared with the planning of single unmanned aerial vehicle flight path, multimachine
Collaboration trajectory planning needs the correlation between each unmanned aerial vehicle flight path of Coordination Treatment, including reconciling spatial scale relationship, time coordination
Relationship and task coordinate relationship enable multiple no-manned plane system to perform effectively task in identical task airspace and guarantee
Flight safety.Multiple no-manned plane cooperates with target following, then is tracked as specific tasks to the collaboration of specific objective with multiple UAVs,
By planning course line appropriate for every frame unmanned plane, in the case where guaranteeing flight safety, cooperative achievement is to target in space bit
The reliable tracking set.
The collaboration trajectory planning research of existing multiple no-manned plane based on centralization planning, the type planing method need mostly without
There are centers to optimize unit, i.e. position where trajectory planning node in man-machine system.The unit can obtain by wireless communication
The state of flights such as the position of all unmanned planes, speed information and task environment situation in system, and boat is solved with optimization algorithm
Mark optimization problem.
Centralization planning is largely effective for solving the small numbers of small-scale trajectory planning problem of unmanned plane, but with
The increase of unmanned plane number, multi-computer system scale increase, and the track parameter that need to be planned sharply increases, and optimization problem to be solved will
Become extremely complex；Meanwhile to multiple no-manned plane system, in many cases and there is no centralized plan nodes, and not can guarantee
Whole unmanned planes can be with plan node reliable communication.
Chinese granted patent " method and system of unmanned aerial vehicle group collaboration tracking target ", application publication number is
The process of CN103197684A, data of publication of application 2013.07.10, synergistic target tracking method are as shown in Figure 1.The party
Case obtains position and the characteristic information of target using airborne sensor, by wireless on the basis of establishing cordless communication network
Communication network, which is realized in the cluster of unmanned plane location information and tracking position of object characteristic information, to be shared.The program realizes target
The key of tracking is in step S104 and S105 that the collaboration by calculating potential field resultant force control unmanned plane tracks behavior.In gesture
When occasion power is less than secure threshold, control unmanned plane tracking；When potential field resultant force is greater than secure threshold, abandon tracking.It is this logical
Crossing and calculating the method that potential field resultant force realizes the collaboration tracking of unmanned plane cluster is Artificial Potential Field Method.Weight existing for this kind of methods
Limiting to is, be only applicable to rotor wing unmanned aerial vehicle (abandon tracking in the case where need hovering movement), and to fixed-wing without
It is man-machine to be no longer applicable in.And fixed-wing unmanned plane has significant advantage compared to rotor wing unmanned aerial vehicle in flying speed.It is being tracked
In the faster situation of target velocity, rotor wing unmanned aerial vehicle is probably because speed reason is unable to complete tracing task.
A kind of Chinese granted patent " UAV system and method with lasting locking and tracking target capability ",
Application publication number is CN105929850A, and data of publication of application 2016.09.07 and patent are " a kind of based on two-dimensional tag
Unmanned plane positioning and method for tracking target ", application publication number CN106197422A, data of publication of application are
2016.12.07, the similar single rack unmanned plane of comparison is directed to the tracking of target, i.e., according between target and unmanned plane
Alternate position spike, by flight control system circuit adjust unmanned plane heading and speed, realize unmanned plane to tracking target with
Track.The deficiency of this method is, firstly, this method is only applicable to rotor wing unmanned aerial vehicle, can not in fixed-wing unmanned plane into
Row application；Secondly, this method only considers tracking of single unmanned plane to target, and single rack unmanned plane is searched on a large scale in execution
Rope and efficiency when tracing task are lower, while the reliability of tracing task is also poor, once since specific factor loses target,
It is just difficult to find acquisition tracking target again.
In summary, it is desirable to provide one kind is suitable for multiple no-manned plane, while being suitable for fixed-wing unmanned plane, Neng Gougen
Change the method and system of the multiple no-manned plane collaboration tracking target of tracking mode according to target velocity.
Summary of the invention
In order to solve the above problem, present applicant proposes the method and systems that a kind of multiple no-manned plane cooperates with tracking target.
On the one hand, the application proposes a kind of multiple no-manned plane collaboration tracking mesh calibration method, comprising:
The first unmanned plane of S1 obtains the velocity information and location information of target, and is broadcast to other each unmanned planes, receives it
The velocity information and location information for the target that his unmanned plane is sent are gone forward side by side row information fusion；
S2 multiple no-manned plane respectively determines tracking mode according to the velocity information of fused target；
S3 multiple no-manned plane is respectively believed according to the navigation information of itself and other unmanned planes, the velocity information of target, position
Breath and the tracking mode calculate final guidance vector；
The velocity information and location information of each self refresh target of S4 multiple no-manned plane, and other each unmanned planes are broadcast to, it receives
Other unmanned planes send target velocity information and location information go forward side by side row information fusion, return S2.
Preferably, the determination tracking mode in S2, comprising:
If unmanned plane is not presently within tracking mode, and the speed of target is greater than midrange speed, then the unmanned plane uses
Flat winged tracking mode；
If unmanned plane is not presently within tracking mode, and the speed of target is less than or equal to midrange speed, then the unmanned plane
Use tracking mode of spiraling；
If unmanned plane is currently at tracking mode of spiraling, and the speed of target is more than or equal to max-thresholds, then it is described nobody
Machine uses flat winged tracking mode；
If unmanned plane is currently at flat winged tracking mode, and the speed of target is less than or equal to minimum threshold, then it is described nobody
Machine use is spiraled tracking mode.
Preferably, when tracking mode is flat winged tracking mode, calculating final guidance vector includes:
It calculates with reference to guidance vector；
Detection conflicts and calculates correction angle using virtual potential field；
It is corrected according to correction angle with reference to guidance vector, obtains finally guiding vector.
Preferably, the calculating uses method of weighting with reference to guidance vector.
Preferably, when the tracking mode is to spiral tracking mode, calculating final guidance vector includes:
It calculates with reference to guidance vector；
Guidance vector compensation needed for calculating phase adjustment, compensation obtain compensated with reference to guidance with reference to guidance vector
Vector；
Detection conflicts and calculates correction angle using virtual potential field；
Vector is guided according to the reference after correction angle correction-compensation, obtains finally guiding vector.
Preferably, the calculating uses Liapunov vector field method of guidance with reference to guidance vector.
Preferably, the detection conflicts and calculates correction angle using virtual potential field, comprising:
Flight Safety Region is monitored, other objects enter Flight Safety Region if detecting, calculate potential field using virtual potential field
Power；
Correction angle is calculated according to potential field power.
Preferably, the midrange speed is Vm, the max-thresholds are (Vm+δV), the minimum threshold is (Vm-δV), δV
For transition section.
Second aspect, the system that the application proposes a kind of multiple no-manned plane collaboration tracking target, comprising:
Module of target detection for calculating the velocity information and location information of target, and is sent to communication module, according to
The velocity information and location information for the target that other unmanned planes are sent carry out information fusion；
Communication module gives the velocity information of target and broadcast of position information to other each unmanned planes, receives other unmanned planes
The velocity information and location information of the target of transmission, are sent to module of target detection；
Tracking module, for determining tracking mode according to the velocity information of fused target, according to itself and other
The navigation information of unmanned plane, the velocity information of target, location information and the tracking mode calculate final guidance vector.
Preferably, the tracking module includes: flat winged computing unit, spiral computing unit and collision detection unit；
The flat winged computing unit for calculating with reference to guidance vector, and is sent described with reference to guidance vector to the inspection that conflicts
Survey unit；
The computing unit that spirals, for calculating with reference to guidance vector, guidance vector needed for calculating phase adjustment is mended
It repays, compensation obtains compensated reference guidance vector with reference to guidance vector, and sends described compensated with reference to guidance vector
To collision detection unit；
The collision detection unit is corrected for detecting conflict and calculating correction angle using virtual potential field according to correction angle
The reference guidance vector or compensated with reference to guidance vector received, obtains finally guiding vector.
The advantages of the application, is: being estimated by the real-time speed to tracked target, realizes that unmanned plane flies tracking flat
Steady effective switching, strengthens tracking ability, prevents tracked target from escaping by speed change between mode and tracking mode of spiraling
Ease；Due to advantage and multiple no-manned plane collaboration tracking of the fixed-wing unmanned plane in speed, have compared to conventional method more preferable
Tracing task complete ability；To static or low-speed motion target, the disk based on the guidance of Liapunov vector field is devised
Tracking is revolved, realizes spiral tracking of the fixed-wing unmanned plane to tracked target；Tracking process of spiraling is cooperateed in multiple no-manned plane
In, phase adjusting method is cooperateed with using multiple no-manned plane, realizes the rotational phase distribution that multiple no-manned plane collaboration is spiraled when tracking；It is right
The target of high-speed motion, using the flat winged tracking based on weighting, realize unmanned plane to high-speed moving object it is effective with
Track；By collision detection and guidance vector correcting method, realize unmanned plane in flight course to obstacle or other unmanned planes
Evade, flight caused by preventing by Environment Obstacles or other unmanned planes collision and conflict improve the safety of flight；
It is planned using Distributed Track, every frame unmanned plane independently carries out the Optimization Solution of track, does not need special plan node, mentions
The high reliability of trajectory planning speed and system.The applicable object of the present processes is not limited to fixed-wing unmanned plane,
It is equally applicable in rotor wing unmanned aerial vehicle.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are general for this field
Logical technical staff will become clear.Attached drawing is only used for showing the purpose of preferred implementations, and is not considered as to this Shen
Limitation please.And throughout the drawings, identical component is indicated with same reference symbol.In the accompanying drawings:
Fig. 1 is the step schematic diagram of the method and system of existing unmanned aerial vehicle group collaboration tracking target；
Fig. 2 is a kind of step schematic diagram of multiple no-manned plane collaboration tracking mesh calibration method provided by the present application；
Fig. 3 is that a kind of multiple no-manned plane collaboration spiraling for mesh calibration method of tracking provided by the present application tracks schematic diagram；
Fig. 4 is that a kind of relative coordinate resolution of vectors of multiple no-manned plane collaboration tracking mesh calibration method provided by the present application is shown
It is intended to；
Fig. 5 is that a kind of detection conflict of multiple no-manned plane collaboration tracking mesh calibration method provided by the present application and avoidance are illustrated
Figure；
Fig. 6 is a kind of schematic diagram of the system of multiple no-manned plane collaboration tracking target provided by the present application.
Specific embodiment
The illustrative embodiments of the disclosure are more fully described below with reference to accompanying drawings.Although showing this in attached drawing
Disclosed illustrative embodiments, it being understood, however, that may be realized in various forms the disclosure without that should be illustrated here
Embodiment is limited.It is to be able to thoroughly understand the disclosure on the contrary, providing these embodiments, and can incite somebody to action
The scope of the present disclosure is fully disclosed to those skilled in the art.
According to presently filed embodiment, a kind of multiple no-manned plane collaboration tracking mesh calibration method, as shown in Fig. 2, packet are proposed
It includes:
The first unmanned plane of S1 obtains the velocity information and location information of target, and is broadcast to other each unmanned planes, receives it
The velocity information and location information for the target that his unmanned plane is sent are gone forward side by side row information fusion；
S2 multiple no-manned plane respectively determines tracking mode according to the velocity information of fused target；
S3 multiple no-manned plane is respectively believed according to the navigation information of itself and other unmanned planes, the velocity information of target, position
Breath and the tracking mode calculate final guidance vector；
The velocity information and location information of each self refresh target of S4 multiple no-manned plane, and other each unmanned planes are broadcast to, it receives
Other unmanned planes send target velocity information and location information go forward side by side row information fusion, return S2.
First unmanned plane is the unmanned plane of first discovery target in queue.
The information fusion is for keeping each unmanned plane decision in queue consistent.
After any one frame unmanned plane finds target, according to the navigation information of itself, the speed letter of (estimation) target is calculated
Breath and location information, and give data broadcasting to other all unmanned planes.
The navigation information includes the information such as location information, velocity information, the course of unmanned plane.The navigation information is
It obtains in real time.
S1 further include: tracking decision information is broadcast to other each unmanned planes, the tracking for receiving the transmission of other unmanned planes is determined
Plan information merges the tracking decision information of itself with the tracking decision information of other each unmanned planes.
S4 further include: tracking decision information is broadcast to other each unmanned planes, the tracking for receiving the transmission of other unmanned planes is determined
Plan information merges the tracking decision information of itself with the tracking decision information of other each unmanned planes.
Determination tracking mode in S2, comprising:
If unmanned plane is not presently within tracking mode, and the speed of target is greater than midrange speed, then the unmanned plane uses
Flat winged tracking mode；
If unmanned plane is not presently within tracking mode, and the speed of target is less than or equal to midrange speed, then the unmanned plane
Use tracking mode of spiraling；
If unmanned plane is currently at tracking mode of spiraling, and the speed of target is more than or equal to max-thresholds, then it is described nobody
Machine uses flat winged tracking mode；
If unmanned plane is currently at flat winged tracking mode, and the speed of target is less than or equal to minimum threshold, then it is described nobody
Machine use is spiraled tracking mode.
When unmanned plane is currently at tracking mode, tracking mode is selected according to the velocity estimation to target: in target speed
Degree estimation is less than or equal to minimum threshold (Vm-δV) when, target is tracked by the way of tracking of spiraling；It is greater than in target velocity estimation
Max-thresholds (Vm+δV) when, fly to track target by the way of tracking using flat.
The VmFor midrange speed, the δVFor transition section.
When tracking mode is flat winged tracking mode, calculating final guidance vector includes:
It calculates with reference to guidance vector；
Detection conflicts and calculates correction angle using virtual potential field；
It is corrected according to correction angle with reference to guidance vector, obtains finally guiding vector.
The calculating uses method of weighting with reference to guidance vector.
For using dynamic weighting method, if flat winged tracking mode is taken, in each control period, for each
Frame unmanned plane is calculated using dynamic weighting method with reference to guidance vector first；Then virtual potential field is calculated by detection conflict
Power calculates correction angle according to virtual potential field power, and amendment obtains final guidance vector.According to final guidance vector, realize that collaboration is flat
Fly tracking.After each control end cycle, the position and speed estimated information to tracking target is updated.
Assuming that the position of moving target is pT=(XTYTZT)T, with speedMovement, NUAVFrame unmanned plane
Respectively from different initial position (XiYiZi) (i=1,2 ... NUAV) set out.
Tracking strategy is kept using the optimum distance in the case of flat winged tracking mode, i.e., it is big by adjusting unmanned plane speed
Small and course is allowed to keep desired tracking range between target, namely flies to according to target position, and directional velocity calculates
The best trace point obtained.The lower unmanned plane speed V of this strategy1, course ψ1Calculation is as follows:
ψ1=ψ+κψ1(ψd-ψ)
WhereinRepresent target velocity size, RtFor best tracking range, d indicates the distance between unmanned plane and target,
ψ is the current course of unmanned plane, κd1And κψ1For regulation coefficient, ψdFor the desired course for the best trace point that flies to, calculation is such as
Under:
Wherein XDAnd YDThe transverse and longitudinal coordinate of respectively best tracing positional, calculation are as follows:
XD=XT+Rtcos(ψT+ψF)
YD=YT+Rtsin(ψT+ψF)
Wherein ψTTo track bogey heading, ψFIt is determined according to formation position where unmanned plane.
It is using the speed closure control tracking strategy in the case of flat winged tracking mode, i.e., big by adjusting unmanned plane speed
Small and course keeps it identical as target velocity size and Orientation.The lower unmanned plane speed V of this strategy2, course ψ2Calculation is such as
Under:
ψ2=ψ+kψ2(ψT-ψ)
Wherein V represents unmanned plane horizontal velocity size, κd2And κψ2For regulation coefficient.
All to obtain good tracking effect under different conditions, according to actual tracking state to two kinds of tracking strategy into
Mobile state weighting, i.e. the strategy fusion based on dynamic weighting:
Wherein, VDIt picks speed for nobody after dynamic weighting, ψDFor the course after dynamic weighting.
Speed needed for finally realizing tracking and course are converted into guidance vector, under the coordinate system of northeast day, guidance arrow
Measure uref, i.e., the reference guide vector u of flat winged tracking moderefIt is shown below:
When the tracking mode is to spiral tracking mode, calculating final guidance vector includes:
It calculates with reference to guidance vector；
Guidance vector compensation needed for calculating phase adjustment, compensation obtain compensated with reference to guidance with reference to guidance vector
Vector；
Detection conflicts and calculates correction angle using virtual potential field；
Vector is guided according to the reference after correction angle correction-compensation, obtains finally guiding vector.
The calculating uses Liapunov vector field method of guidance with reference to guidance vector.
If taking tracking mode of spiraling, the period is controlled at each, for each frame unmanned plane, uses Li Yapu first
Nuo Fu (Lyapunov) vector field method of guidance is calculated with reference to guidance vector；Then phase adjustment angular speed is calculated to compensate ginseng
Guidance vector is examined, obtains compensated with reference to guidance vector, realizes that multiple UAVs spiral the resultant force distribution of phase when tracking；
Then virtual potential field power is calculated by detection conflict, amendment obtains final guidance vector.System for flight control computer executes final system
Vector is led, realizes and cooperates with tracking of spiraling.After each control end cycle, the position and speed estimated information to tracking target is updated.
As shown in figure 3, tracking mode of spiraling is taken to cooperate with Tracking Ground Targets for three frame unmanned planes.The position of moving target
It is set to pT=(XTYTZT)T, with speedMovement, NUAVFrame unmanned plane is respectively from different initial positions
(XiYiZi) (i=1,2 ... NUAV) set out, in Guidance uiUnder the action of, it can be according to certain phase intervals θcmdij(i=
1,2,…NUAV) be evenly distributed in target level position (XT,YT) it is the center of circle, radius Rcmd, it is H away from object heightcmd's
On target circle, should rapidly spend vcmdAround target flight, airborne sensor is enable to implement effectively covering to target, and can
Target is followed to move to prevent target from escaping.Wherein, θcmd12For first unmanned plane (UAV1) and the second frame unmanned plane (UAV2)
Phase intervals, θcmd23For the phase intervals of the second frame unmanned plane and third frame unmanned plane (UAV3), θcmd31For third frame without
Man-machine and first unmanned plane phase intervals.
For any frame unmanned plane, it is being calculated with reference to guidance vector ui(i=1,2 ... NUAV) when, to be neglected convenient for statement
Slightly subscript i.If target (moving target) arrives the Relative position vector p of unmanned planer=(XrYrZr)T=(X-XTY-YTZ-ZT)T.Its
Middle X, Y, Z are the coordinate X of unmanned planei、Yi、Zi。
As shown in figure 4, being relative coordinate resolution of vectors.To prIt is decomposed, Xr、Yr、ZrRespectively indicate prX axis, Y-axis,
Component on Z axis.Unmanned plane is set to guide vector u to the spiral reference of tracking of targetrefIt is as follows:
Wherein β is zoom factor, fx、fy、fzRespectively for the guidance vector of static target on X-axis, Y axis, Z axis
Component, calculation are as follows:
Wherein η is Dynamic gene, and the size of η determines relatively strong and weak, the symbol of guidance vector contraction and turning effort
Number determine unmanned plane around target heading.
By taking three frame unmanned planes as an example, the method for illustrating to cooperate with phase adjustment, i.e. compensation are with reference to guidance vector.If i, two frame of j
Phase intervals between unmanned plane are θij, expectation interval θcmdij, deviation delta θij=θcmdij-θij。
For first unmanned plane, guidance vector compensation needed for phase adjustment are as follows:
Wherein Δ u1z=0,
Wherein, X1r、Y1rFirst unmanned plane and tracking target Relative position vector are respectively indicated in X-axis and Y axis
Component, k1For the angular speed regulation coefficient of first unmanned plane, need to meet
For the second frame unmanned plane, guidance vector compensation needed for phase adjustment are as follows:
Wherein Δ u2z=0,
Wherein, X2r、Y2rThe second frame unmanned plane and tracking target Relative position vector are respectively indicated in X-axis and Y axis
Component.
For third frame unmanned plane, guidance vector compensation needed for phase adjustment are as follows:
Wherein Δ u3z=0,
Wherein, X3r、Y3rThird frame unmanned plane and tracking target Relative position vector are respectively indicated in X-axis and Y axis
Component, k3For the angular speed regulation coefficient of third frame unmanned plane, need to meet
After the guidance vector compensation needed for obtaining above-mentioned phase adjustment, it is added to previous step each frame obtained respectively
Vector is guided in the reference of unmanned plane, obtains the compensated phase adjustment spiraled when tracking with reference to guidance vector, realization collaboration.
Since multiple no-manned plane is in tracking and phase adjustment process, it may occur that conflict or encounter obstacle, to guarantee to fly
Row safety, need to liquidate row detection of advancing by leaps and bounds, and is modified to tracking strategy.Vector sum is guided in the reference of flat winged tracking mode
The method of the compensated corrected Calculation with reference to guidance vector for tracking mode of spiraling is consistent.
The detection conflicts and calculates correction angle using virtual potential field, comprising:
Flight Safety Region is monitored, other objects enter Flight Safety Region if detecting, calculate potential field using virtual potential field
Power；
Correction angle is calculated according to potential field power.
Multiple no-manned plane is in tracking and phase adjustment process, it may occur that conflicts or encounters obstacle, to guarantee flight peace
Entirely, need to liquidate row detection of advancing by leaps and bounds, and is modified to tracking strategy.
As shown in figure 5, for unmanned plane collision detection and avoidance schematic diagram.If (XcYcZc) it is intruder relative to unmanned plane
The position at the machine center.When other objects enter safety zone, i.e., When, it will generate punching
Prominent alarm.Wherein RavoidFor repulsion operating distance, RsafeFor safe distance, d is obstacle at a distance from unmanned plane, FrepFor reprimand
Power, FnFor component of the repulsion in unmanned plane directional velocity normal direction, u is the guidance vector before amendment, and u ' is revised guidance
Vector.
Using virtual potential field, when clashing, it is as follows to calculate acquisition potential field power expression formula:
Wherein ζ is course adjust gain, and ε is smaller positive number, RavoidFor repulsion operating distance, RsafeFor safe distance,
FrepFor repulsion, d is obstacle at a distance from unmanned plane.
Under the action of obstacle potential field, following navigational calibration angle is calculated:
WhereinRepresent component of the unmanned plane ground velocity in X-axis and Y-axis, ‖ Fr‖ represents repulsion in unmanned plane speed
The size of square upward component, calculation are as follows:
By appeal navigational calibration angle to the reference guide vector u of flat winged tracking moderefIt is modified, is finally guided
Vector.
By appeal navigational calibration angle to the compensated with reference to guidance vector u of tracking mode of spiralingref+ Δ u is modified,
It obtains finally guiding vector.
By taking the compensated reference guidance vector to tracking mode of spiraling is modified as an example, what is obtained after amendment is final
Vector u ' is guided, as follows:
The midrange speed is Vm, the max-thresholds are (Vm+δV), the minimum threshold is (Vm-δV), δVFor transition
Section.
To prevent target from taking motor-driven escape, effectively steady switching is carried out between two kinds of tracking modes.Specifically,
It spirals in the case of tracking, i.e., unmanned plane is currently at tracking mode of spiraling, if updated target state estimator speed is more than or equal to
(Vm+δV) when, tracking mode switches to flat winged tracking by tracking of spiraling；In flat winged tracking, i.e., unmanned plane is currently at
Flat winged tracking mode, if updated target state estimator speed is less than or equal to (Vm-δV) when, tracking mode is switched to by flat winged tracking
It spirals tracking.Wherein, buffer area (Vm+δV) and (Vm-δV) setting effectively prevent tracking target velocity estimate in centre
Speed (critical speed) VmCaused tracking mode frequent switching when nearby.The midrange speed VmValue can set.It is described
Transition section δVValue can set.
According to presently filed embodiment, it is also proposed that a kind of system of multiple no-manned plane collaboration tracking target, as shown in fig. 6,
Include:
Module of target detection 101 for calculating the velocity information and location information of target, and is sent to communication module, root
The velocity information and location information of the target sent according to other unmanned planes carry out information fusion；
Communication module 102 gives the velocity information of target and broadcast of position information to other each unmanned planes, receives other nothings
The velocity information and location information of the target of man-machine transmission, are sent to module of target detection；
Tracking module 103, for determining tracking mode according to the velocity information of fused target, according to itself and
The navigation information of other unmanned planes, the velocity information of target, location information and the tracking mode calculate final guidance arrow
Amount.
The communication module is also used to track decision information and is broadcast to other each unmanned planes, receives other unmanned planes hair
The tracking decision information sent.
The communication module is also used to unmanned plane information interaction, and information includes: navigation information between the unmanned plane, right
Calculating information of target position speed, and tracking decision information etc..
The tracking module is also used to send tracking decision information to communication module.
The tracking module includes: flat winged computing unit, spiral computing unit and collision detection unit；
The flat winged computing unit for calculating with reference to guidance vector, and is sent described with reference to guidance vector to the inspection that conflicts
Survey unit；
The computing unit that spirals, for calculating with reference to guidance vector, guidance vector needed for calculating phase adjustment is mended
It repays, compensation obtains compensated reference guidance vector with reference to guidance vector, and sends described compensated with reference to guidance vector
To collision detection unit；
The collision detection unit is corrected for detecting conflict and calculating correction angle using virtual potential field according to correction angle
The reference guidance vector or compensated with reference to guidance vector received, obtains finally guiding vector.
The system also includes navigation module and fly control module.
The navigation module obtains the navigation information of unmanned plane itself, and itself the navigation information is passed through communication
Module is sent to other unmanned planes.
The navigation information of the unmanned plane itself includes the information such as location information, velocity information, the course of unmanned plane.
The winged control module is used to realize the Guidance and control of unmanned plane according to calculated final guidance vector.
By realizing multiple no-manned plane pair for each frame UAV flight module of target detection, communication module and tracking module
The collaboration of target tracks.Wherein module of target detection is used to obtain the velocity information and location information of tracking target, communication module
For the information transmission between unmanned plane.Tracking module is used to calculate the final guidance vector for realizing that collaboration tracking is required.
In the present processes, estimated by the real-time speed to tracked target, realizes unmanned plane in flat winged track side
Steady effective switching, strengthens tracking ability, prevents tracked target from escaping by speed change between formula and tracking mode of spiraling
Ease；Due to advantage and multiple no-manned plane collaboration tracking of the fixed-wing unmanned plane in speed, have compared to conventional method more preferable
Tracing task complete ability；To static or low-speed motion target, the disk based on the guidance of Liapunov vector field is devised
Tracking is revolved, realizes spiral tracking of the fixed-wing unmanned plane to tracked target；Tracking process of spiraling is cooperateed in multiple no-manned plane
In, phase adjusting method is cooperateed with using multiple no-manned plane, realizes the rotational phase distribution that multiple no-manned plane collaboration is spiraled when tracking；It is right
The target of high-speed motion, using the flat winged tracking based on weighting, realize unmanned plane to high-speed moving object it is effective with
Track；By collision detection and guidance vector correcting method, realize unmanned plane in flight course to obstacle or other unmanned planes
Evade, flight caused by preventing by Environment Obstacles or other unmanned planes collision and conflict improve the safety of flight；
It is planned using Distributed Track, every frame unmanned plane independently carries out the Optimization Solution of track, does not need special plan node, mentions
The high reliability of trajectory planning speed and system.The applicable object of the present processes is not limited to fixed-wing unmanned plane,
It is equally applicable in rotor wing unmanned aerial vehicle.
The preferable specific embodiment of the above, only the application, but the protection scope of the application is not limited to
This, anyone skilled in the art within the technical scope of the present application, the variation that can readily occur in or replaces
It changes, should all cover within the scope of protection of this application.Therefore, the protection scope of the application should be with the guarantor of the claim
It protects subject to range.
Claims (10)
1. a kind of multiple no-manned plane collaboration tracking mesh calibration method characterized by comprising
The first unmanned plane of S1 obtains the velocity information and location information of target, and is broadcast to other each unmanned planes, receives other nothings
The velocity information and location information of the target of man-machine transmission go forward side by side row information fusion；
S2 multiple no-manned plane respectively determines tracking mode according to the velocity information of fused target；
S3 multiple no-manned plane respectively according to the navigation information of itself and other unmanned planes, the velocity information of target, location information with
And the tracking mode, calculate final guidance vector；
The velocity information and location information of each self refresh target of S4 multiple no-manned plane, and other each unmanned planes are broadcast to, receive other
Unmanned plane send target velocity information and location information go forward side by side row information fusion, return S2.
2. a kind of multiple no-manned plane collaboration tracking mesh calibration method as described in claim 1, which is characterized in that determination in S2 with
Track mode, comprising:
If unmanned plane is not presently within tracking mode, and the speed of target is greater than midrange speed, then the unmanned plane is flown using flat
Tracking mode；
If unmanned plane is not presently within tracking mode, and the speed of target is less than or equal to midrange speed, then the unmanned plane uses
It spirals tracking mode；
If unmanned plane is currently at tracking mode of spiraling, and the speed of target is more than or equal to max-thresholds, then the unmanned plane makes
With flat winged tracking mode；
If unmanned plane is currently at flat winged tracking mode, and the speed of target is less than or equal to minimum threshold, then the unmanned plane makes
With tracking mode of spiraling.
3. a kind of multiple no-manned plane collaboration tracking mesh calibration method as claimed in claim 1 or 2, which is characterized in that work as track side
When formula is flat winged tracking mode, calculating final guidance vector includes:
It calculates with reference to guidance vector；
Detection conflicts and calculates correction angle using virtual potential field；
It is corrected according to correction angle with reference to guidance vector, obtains finally guiding vector.
4. a kind of multiple no-manned plane collaboration tracking mesh calibration method as claimed in claim 3, which is characterized in that the calculating reference
It guides vector and uses method of weighting.
5. a kind of multiple no-manned plane collaboration tracking mesh calibration method as claimed in claim 1 or 2, which is characterized in that when it is described with
Track mode is when spiraling tracking mode, and calculating final guidance vector includes:
It calculates with reference to guidance vector；
Guidance vector compensation needed for calculating phase adjustment, compensation obtain compensated with reference to guidance vector with reference to guidance vector；
Detection conflicts and calculates correction angle using virtual potential field；
Vector is guided according to the reference after correction angle correction-compensation, obtains finally guiding vector.
6. a kind of multiple no-manned plane collaboration tracking mesh calibration method as claimed in claim 5, which is characterized in that the calculating reference
It guides vector and uses Liapunov vector field method of guidance.
7. a kind of multiple no-manned plane collaboration tracking mesh calibration method as described in claim 3 and 5, which is characterized in that the detection
Conflict and virtual potential field used to calculate correction angle, comprising:
Flight Safety Region is monitored, other objects enter Flight Safety Region if detecting, calculate potential field power using virtual potential field；
Correction angle is calculated according to potential field power.
8. a kind of multiple no-manned plane collaboration tracking mesh calibration method as claimed in claim 2, which is characterized in that the midrange speed
For Vm, the max-thresholds are (Vm+δv), the minimum threshold is (Vm-δv), δvFor transition section.
9. a kind of system of multiple no-manned plane collaboration tracking target characterized by comprising
Module of target detection for calculating the velocity information and location information of target, and is sent to communication module, according to other nothings
The velocity information and location information of the target of man-machine transmission carry out information fusion；
Communication module gives the velocity information of target and broadcast of position information to other each unmanned planes, receives the transmission of other unmanned planes
Target velocity information and location information, be sent to module of target detection；
Tracking module, for determining tracking mode according to the velocity information of fused target, according to itself and other nobody
The navigation information of machine, the velocity information of target, location information and the tracking mode calculate final guidance vector.
10. a kind of system of multiple no-manned plane collaboration tracking target as claimed in claim 9, which is characterized in that the tracking mould
Block includes: flat winged computing unit, spiral computing unit and collision detection unit；
The flat winged computing unit for calculating with reference to guidance vector, and is sent described with reference to guidance vector to collision detection list
Member；
The computing unit that spirals, for calculating with reference to guidance vector, guidance vector compensation needed for calculating phase adjustment, compensation
With reference to guidance vector, compensated reference guidance vector is obtained, and is sent described compensated with reference to guidance vector to the inspection that conflicts
Survey unit；
The collision detection unit, for detecting conflict and calculating correction angle using virtual potential field, according to correction angle corrected received
The reference guidance vector or compensated with reference to guidance vector arrived, obtains finally guiding vector.
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