电光与控制, 2019, 26 (7): 60, 网络出版: 2021-01-06  

适用于有向图网络的多无人机目标跟踪一致性算法

Multi-UAV Target Tracking Consistency Algorithm for Directed Graph Networks
作者单位
1 中国人民解放军92543部队, 山西 长治 046001
2 海军航空大学, 山东 烟台 264001
摘要
多无人机目标跟踪是最近几年研究的热点和重点问题。针对多无人机组成的有向图网络,构建了多无人机目标跟踪的模型,采用分布式融合处理的方法。基于多无人机目标估计的分布式无迹信息滤波,以定理形式推导证明了基于有向图网络的加权平均一致性算法,提出两种加权矩阵的设计方法,基于此构建了分布式无迹信息滤波一致性算法的问题求解框架。仿真分析表明,基于有向图网络的一致性算法能够在不同网络拓扑环境下很好地跟踪目标,具有很好的估计精度和鲁棒性,能够提高多无人机融合估计性能。
Abstract
Multi-UAV target tracking is a hot topic in recent years. In this paper, a multi-UAV target tracking model is constructed for a directed graph network composed of multiple UAVs, and a distributed fusion processing method is adopted.Based on the multi-UAV target estimation of distributed unscented information filtering, the thesis deduces the weighted average consistency algorithm based on directed graph network, and proposes two weighting matrix design methods. Based on this, a problem solving framework for distributed unscented information filtering consistency algorithm is constructed. The simulation analysis shows that the consistency algorithm based on directed graph network can track the target well under different network topologies, which has good estimation accuracy and robustness, and can improve the performance of multi-UAV fusion estimation.

柳向阳, 唐大全, 邓伟栋, 丁鹏程. 适用于有向图网络的多无人机目标跟踪一致性算法[J]. 电光与控制, 2019, 26(7): 60. LIU Xiangyang, TANG Daquan, DENG Weidong, DING Pengcheng. Multi-UAV Target Tracking Consistency Algorithm for Directed Graph Networks[J]. Electronics Optics & Control, 2019, 26(7): 60.

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