Cooperative Positioning Method For Ground Maneuvering Target Based On Multiple Models

In recent years,as an important combat unit in the military field,ground maneuvering targets represented by military vehicles such as armored vehicles,radar vehicles,missile launchers and other military vehicles,with their strong maneuverability and rich hidden methods,have undertaken more and more abundant combat missions in actual combat,and have great military value and development potential,and its positioning issues have gradually become research hotspots,and have attracted extensive attention from scholars.On the other hand,due to the consideration of reducing costs,improving reliability and information fusion,UAV with low cost and high flexibility have begun to be widely used in the military.Therefore,multiple UAV are used to coordinate ground maneuvering targets Positioning technology research is of great significance.The coordinated positioning method of ground maneuvering targets is the core technology for precisely attacking enemy ground maneuvering targets,and it is also an important guarantee for battlefield situational awareness.This paper takes the ground maneuvering target represented by military vehicles as the object,and uses the multiple UAV equipped with infrared sensors to carry out in-depth research on its collaborative positioning method.The main contents include:According to the possible movement forms of ground maneuvering targets,establish the corresponding motion models,and establish the measurement equation of the UAV airborne infrared sensor;Considering the nonlinearity of the co-location problem,the basic flow of the cubture Kalman filter algorithm is given.In order to further improve the estimation accuracy,the iterative cubture Kalman filter algorithm is introduced,and the iterative cubture Kalman filter algorithm is improved;Establish a mathematical simulation scenario,design a coordinated positioning algorithm for ground maneuvering targets based on three nonlinear filtering methods respectively,and compare and analyze the performance of various nonlinear filtering methods in the coordinated positioning of ground maneuvering targets through Monte Carlo mathematical simulations The superiority of the improved iterative cubture Kalman filter algorithm is mentioned.Considering the variety of movement forms of ground maneuvering targets,the problem that a single model cannot cover its movement form is introduced,the concept of multiple models is introduced,and the specific framework of the fixed structure multiple model algorithm is given;An interactive multi-model algorithm based on an improved iterative cubture Kalman filter algorithm is proposed,and a model set is designed for the possible movement forms of ground maneuvering targets;Establish simulation scenarios of continuous maneuvering of ground targets,perform Monte Carlo mathematical simulations,and verify the advantages of interactive multi-model algorithms over single-model algorithms in their adaptability and high accuracy;In the same scenario,the comparative analysis of the cooperative positioning results of several typical fixed-structure multi-model algorithms verifies that the interactive multi-model algorithm has the highest cost-effectiveness compared to other fixed-structure multi-model algorithms;Using interactive multi-model algorithm,through the method of controlling variables,the influence of infrared sensor angle measurement accuracy and other factors on the results of ground maneuvering target coordinate positioning is analyzed,which provides a certain reference for improving the coordinate positioning accuracy.In view of the limitations of the interactive multi-model algorithm whose fixed model set is difficult to deal with complex maneuvering scenarios of ground maneuvering targets,the concept of variable structure multi-model algorithm is introduced based on graph theory,three model switching methods of active digraph,digraph switching and adaptive grid are studied,an adaptive grid interactive multi-model algorithm based on improved iterative cubture Kalman filtering is proposed;Establish complex maneuvering scenes for ground targets,and compare and analyze through mathematical simulation to verify the effectiveness of the adaptive algorithm of the adaptive grid interactive multi-model algorithm model set and the advantages of accuracy compared to the interactive multi-model;Using active digraph and digraph switching respectively to design the corresponding variable structure multi-model co-location algorithm,the superiority of the model set switching efficiency and estimation accuracy of the adaptive grid interactive multi-model algorithm proposed in this paper is verified by simulation comparison.