A Study Of Multi-UAV Cooperative Localization Path Planning

Multi-UAV cooperative combat will become the primary combat mode in the future. UAV path planning is the key technology of mission planning system, and an important means to increase the efficiency of the UAV cooperative combat. In this paper, various factors of multi-UAV cooperative localization path are considered and UAV path generation, smooth, segmentation method are studied, aiming at improving target location accuracy of multi-UAV cooperative localization and ensuring that path can actually fly. Finally, the path after planning is evaluated. The main research content is as follows:Firstly, For multi-UAV cooperative localization path generation problems, this paper introduces in detail the principle and the algorithm flow of differential evolution algorithm. For optimization of UAV observation location, the position optimization algorithm based on differential evolution algorithm was put forward to generate the optimal path for UAV. By comparing with uniform grid search method in simulation example, results show the feasibility and effectiveness of the algorithm in the optimal path generation.Secondly, To resolve the path smoothing problem for multi-UAV cooperative location, curve fitting method and cubic spline interpolation together with simulation were used to verify that UVA path after smoothing can not only ensure that UAV can fly along the optimal observation location as far as possible, but also can satisfy the maneuver performance constraint of UAV at the same time, so as to realize reliability of flight performance.Thirdly, For simulation problem of co-location path planning of multi-UAV,this artcle has respectively carried on detailed simulation analysis on four positioning systems,including direction finding cross location path planning under the double UAV,time difference direction finding cross location path planning, and time difference location path planning under four UAVs.Simulation results show that the auxiliary UAV track can achieve accurate positioning of target and ensure actual flying track after path generation, smooth,and selection of track.Fourthly, For co-location path evaluation of multi-UAV, the paper introduces the principle and method of fuzzy hierarchy comprehensive evaluation method and makes simulation experiment with path instances after planning. The results show that the method can make accurate evaluation of path.