Research On Cooperative Tracking And Localization Of Multiple UAVs

With the development of UAV technology,the flight characteristics of UAV has inherent advantages for complex tracking environment,through the UAV to perform the tracking task by more and more experts and scholars’ attention,and no part of a man-machine cooperative tracking problem is UAV tracking problem.In this paper,we establish a closed loop solution framework based on active perception and a distributed communication structure,and analyze the fusion of target state and UAV trajectory optimization.Based on the closed-loop active awareness solution framework,established the tracking task execution process,when the task is started,the mission control center tracking tasks to each UAV,UAVs on the same mobile target tracking,the communication structure of distributed man-machine between each UAV the local information fusion center,each UAV will preprocess measurement information of airborne sensors were obtained after the relative azimuth and distance measurement information between the target and the unmanned technology,the use of this information at the same time,the sensor information is transmitted to the adjacent UAV nodes in the communication range.Through the communication network.Get the optimal target at the moment of the state fusion estimation through the target state and target state information fusion,the next moment of prediction,this set of forecast information input to the route optimization module,the route optimization can be part of the next step without a proper time and space position machine to be reached,and thus better able to pass airborne sensors for target state estimation,the completion of the closed-loop structure of the solving framework.In the target state estimation fusion module,extended Kalman filter(EKF)and the combination of information filtering,fusion filtering of the local information fusion node information,this information can be divided into three kinds,respectively as the objective measurement information of airborne sensor itself measured,through the target initial position and motion model prior knowledge of the estimated target prediction information,as well as other nodes through the communication link state information measurement.In the end,this module is used to output continuous and accurate target state information for the entire tracking task.Finally,the route optimization module,through between the UAV and the target has always maintained a safe distance,and no change in the target heading angle hovering flight of UAV,so as to get a better time and space position,measured the better target information,complete the task of trajectory optimization.