Research On Autonomous Target Location And Tracking Method Based On Air-Ground Collaboration

With the continuous development of artificial intelligence and micro-electromechanical integration technology,the integratable ability and intelligence level of various types of Unmanned Vehicles(UVs)have been greatly improved,which promotes the development of unmanned combat research under the background of military intelligence.However,under the guidance of the faster,more accurate and more efficient battlefield environment,small and medium-scale group operations at the unit level have become one of the main forms of modern battlefield operations,and the squads have come to the edge of the most intense struggle against both sides.Obviously,Unmanned Air Vehicle(UAV)and Unmanned Ground Vehicle(UGV)are the most common UVs for small-scale groups such as squads,and autonomous target positioning and tracking is an important way for them to perceive the battlefield environment and obtain the target information.For UAV and UGV,the structural characteristics of them limit the overall development of ability.There are weaknesses and strengths between them,which has also become an important factor limiting the combat capability of squads.Organizing Air-Ground cooperation to improve its target positioning and tracking ability is an urgent problem to be solved in military intelligent enabling unmanned combat,and it is also one of the key technical means to improve the combat effectiveness of squads.At present,there are a lot of research on Air-Ground cooperation,but most of them stay at the level of theoretical design and system simulation,lacking the verification of practical experiments.However,the Air-Ground coordination system is facing challenges such as the difficulties of cross domain integration,one-sided situation awareness,delayed information sharing and chaotic air ground coordination.On the one hand,the above researches rarely have the application ability and value,on the other hand,it is difficult for the Air-Ground cooperation system to survive and play its role in such a complex and changeable battlefield environment.Based on the application scenarios and needs of Air-Ground collaboration autonomous target location and tracking,this paper designs the architecture of it,studies the single UV autonomous target location and tracking methods,Air-Ground collaboration autonomous target location and tracking methods,and designs validation and comparison experiments for the proposed methods.The main work includes the following points:(1)An Air-Ground cooperation autonomous target location and tracking architecture is designed.Based on the application scenario of the Air-Ground cooperation system,this paper analyzes its actual needs and builds an Air-Ground cooperation autonomous target location and tracking architecture.It not only provides a new solution for the data processing and flow mode of Air-Ground cooperation system,but also supports the architecture of Air-Ground cooperation experiments.(2)A MSA(Mass Spring Algorithm)method for single UAV tracking moving target is presented.For the multi-rotator UAV,we study the autonomous target location and tracking method from three processes: target recognition,target location and target tracking.By dividing the area of target image captured by UAV and designing different tracking strategies for different areas,the MSA method to effectively enhance the target tracking capability of UAV is presented.(3)An Air-Ground cooperation autonomous target location and tracking method is presented.Focusing on the problem of target location and tracking,the process of AirGround cooperation is analyzed and a new Air-Ground cooperation mechanism is designed based on the results of target recognition and location of UGV and UAV.In addition,the algorithm implementation is introduced step by step according to the whole process of the Air-Ground cooperation autonomous target location and tracking method.(4)A series of experiments on Air-Ground unmanned platforms and their cooperation are designed and carried out.In order to verify the practicability of this research,a hardware platform is built for single UAV target tracking strategy(MSA)and Air-Ground cooperation autonomous target location and tracking method,and experiments are designed to verify the effectiveness of these methods.