Research On Ground Target Tracking Technology Based On UAV And UGS

With the increasing use of unmanned equipment in military and civilian applications,various unmanned devices cooperate and cross-use,and there is a problem that UAVs coordinate unattended sensor search and tracking ground moving targets.Its research has important research value and theoretical significance in the field of battlefield intelligence reconnaissance and surveillance.It deploys low-cost unattended sensors in the road network through the drone,monitors the targets that the enemy passes,and then uses the drone pair.Target execution search and tracking interception can complete continuous monitoring and collaborative detection of the local battlefield.This paper focuses on the search and tracking of single-handed drones to a single moving target,discusses the search and tracking of unmanned aerial vehicles in the road network,and designs a single-person unmanned unattended sensor pair.Based on the moving target tracking method,a multi-UAV coordinated unattended sensor tracking method is designed.The main research work and innovations of the thesis are as follows:1.The theoretical basis of ground motion target tracking problem coordinated by UAV and ground unattended sensors is analyzed.Under the framework of the cooperation between UAV and unattended sensor tasks,the coordination elements of multi-UAV and unattended sensor tasks and the constraints of collaborative tasks are described.The road network structure,related search theory and road network task environment are analyzed.The application and characteristics of the target search algorithm and the Hungarian algorithm are briefly introduced.2.A method for tracking the moving targets of unmanned unmanned sensors is designed.A road network model is established.The heuristic search design algorithm based on node evaluation heuristics has no human-to-target search algorithm.It can select the subsequent search nodes of the drone based on the location of the drone,the potential location of the target,and the target local information acquired by the sensor node.Search tracking is iteratively performed between sensor node levels.A comparative experiment of two different sensor node evaluation mechanisms is established.The interception ability of the UAV to the target under different node evaluation mechanisms is compared,and the effectiveness of the search algorithm on the search problem is verified.3.Multi-UAV coordinated ground unattended sensors are used to search and track multiple moving targets.Under the framework of multi-UAV and unattended sensor collaboration,the hierarchical rolling optimization method is used to optimize the tracking path of multi-target multi-UAV.Single drones work with unattended sensors to autonomously target a single target.Based on the tracking algorithm,when multiple UAVs cooperatively track multiple targets,the upper layer is based on the task assignment algorithm and the rules of the flight path planning.In the optimization process,combined with the flight constraints between multiple UAVs,the corresponding flight constraint rules are formulated,the optimization and update of the target nodes of multiple UAV retrieval are adjusted,and the task assignment among multiple UAVs is optimized.Hungarian algorithm.Reduce the overall path cost of the drone.Finally,a multi-UAV collaboration and incompetent comparison experiment is established to verify the impact of multi-unmanned cooperative algorithm and path constraint rules on the interception rate of multi-UAV.