CN112859919B - Method for tracking moving target by unmanned aerial vehicle group - Google Patents
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- G05D1/10—Simultaneous control of position or course in three dimensions
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- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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Abstract
The invention provides a method for tracking moving targets by an unmanned aerial vehicle group, which comprises the following steps: setting an unmanned aerial vehicle group termination tracking parameter, and establishing a moving object motion model equation; obtaining distance observation values of a plurality of unmanned aerial vehicles to a moving target; obtaining the view angle of the moving target on the unmanned aerial vehicle according to the distance observation value; determining the motion direction of the unmanned aerial vehicle according to the view rotation angle; and adjusting the moving direction to track the target until reaching the defined distance and angle. The method has the advantages of simple and convenient operation steps, low requirement on operators and high accuracy; the method avoids the difficulty in tracking the moving target on the basis of ensuring the stability of group flight in apparent operation, and can ensure the stability and accurate tracking of the group flight.
Description
Technical Field
The invention relates to an unmanned aerial vehicle technology, in particular to a method for tracking moving targets by an unmanned aerial vehicle group.
Background
The tracking of the moving target is realized by the existing unmanned aerial vehicle in a single-machine mode, and the tracking of the single-machine mode is realized by visual operation of personnel. Such operation of a single machine lacks precision and has high requirements on the operator. For the unmanned aerial vehicle cluster, the tracking of the moving target is difficult to realize by the visual operation of the operator on the basis of ensuring the stability of the cluster flight, the situation that the operator is easily lost is easily caused, and the stability and the accurate tracking of the cluster are difficult to ensure at the same time.
At present, unmanned aerial vehicle is to moving target's tracking, and the polygenic unit operating personnel is tracked the operation of visualing of moving target, and it is still less to utilize many unmanned aerial vehicles to realize the pursuit to moving target. The single unmanned aerial vehicle has the advantages of simple implementation and no coordination on the moving target. However, the single unmanned aerial vehicle operator has high intensity of target tracking operation, has high requirement on the operator, and is difficult to realize the tactical target realized by the unmanned aerial vehicle group.
The unmanned aerial vehicle group has the advantages of high reliability, more portable equipment, stable flight and low overall failure rate. A plurality of unmanned aerial vehicles can be dispatched to execute special tasks at any time in the flight process.
Along with the development of unmanned aerial vehicle technique, unmanned aerial vehicle flies in coordination with the mode that becomes a lot of times, forms unmanned aerial vehicle crowd, reaches certain bigger practical function, possesses functions such as communication, mutual range finding between the unmanned aerial vehicle crowd.
It is noted that this section is intended to provide a background or context to the embodiments of the invention that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.
Disclosure of Invention
The invention aims to provide a method for tracking a moving target by an unmanned aerial vehicle cluster, which can ensure that the unmanned aerial vehicle cluster can stably and accurately track.
In order to achieve the purpose, the invention adopts the following technical scheme:
the method for tracking the moving target by the unmanned aerial vehicle group comprises the following steps:
s1: setting an unmanned aerial vehicle group termination tracking parameter, and establishing a moving object motion model equation;
s2: obtaining distance observation values of a plurality of unmanned aerial vehicles to a moving target;
s3: obtaining the view angle of the moving target on the unmanned aerial vehicle according to the distance observation value;
s4: determining the motion direction of the unmanned aerial vehicle according to the view rotation angle;
s5: and adjusting the moving direction to track the target until reaching the defined distance and angle.
Further, the step S1 is as follows:
s101: setting a tracking termination parameter, wherein the tracking termination parameter is as follows: distance D, pitch angle θ, yaw angle
S102: establishing a moving object model equation:
wherein dt is a time sampling interval, x (k) is an instantaneous position of the moving object at a kth sampling interval, v (k) is an instantaneous speed of the moving object at the kth sampling interval, a (k) is an instantaneous acceleration of the moving object at the kth sampling interval, and w (k) is noise suffered by the moving object at the kth sampling interval.
Further, the step S2 is specifically as follows:
s201: at the kth time, the coordinate x (k) of the moving object to be obtained is set to (x, y, z) T The nth known space has three-dimensional coordinates of (x) (n) ,y (n) ,z (n) ) The distance from the unmanned aerial vehicle to the sensor to be solved is r (n) Obtaining a total of N corresponding distances r (n) (n＝1,2,…,N)；
S202: the measured values are rewritten as:
wherein
Formula (2) is
SX(k)＝L (4)
S203: and obtaining the instantaneous position of the moving target at the kth moment as follows:
X(k)＝(S T S) -1 S T L (5)。
further, the number of the multiple unmanned planes in the step S2 is greater than four.
Further, the step S3 is specifically as follows:
s301: obtaining a series of instantaneous values V (k), A (k) of the moving target according to the formula (1);
s302: obtaining the rotation angle alpha (k) of a series of speed vectors of the moving target; wherein:
further, the step S4 is specifically as follows:
s401: according to the target instantaneous position and X (k) ═ x, y, z) T Unmanned plane position (x) (n) ,y (n) ,z (n) ) And a distance r (n) Obtaining corresponding direction vector
S402: calculating a preset meeting vector 2dtV (k) of the motion of the moving target;
s403: calculating the speed steering angle of the unmanned aerial vehicle according to the following formula;
s404: the drone tracks the direction of speed by pointing to the moving object, i.e. along
And adjusting the preset meeting point to the target motion.
Further, the step S404 is specifically: on the basis of pointing to the target, i.e. along
On the basis, the speed steering angle beta (k) is increased along the direction V (k)/| | V (k) | direction of the meeting point of the target motion, and the unmanned aerial vehicle speed direction is changed into:
further, the step S5 is specifically as follows:
s501: increasing a rotation angle beta (k) to the direction of V (k)/| | V (k) | | from the original direction of the speed;
s502: judging the distance r of the moving target (n) If the tracking error is smaller than the set value D, stopping tracking if the tracking error is smaller than or equal to the set value D, and returning to the step S401 if the tracking error is larger than the set value D; then to a specified pitch angle theta and yaw angle
And moving to enable the moving target to reach the limited visual field.
The invention has the beneficial effects that:
1) the invention provides a method for tracking a moving target by an unmanned aerial vehicle group, which has the advantages of simple operation steps, low requirement on operators and high precision;
2) the invention provides a method for tracking a moving target by an unmanned aerial vehicle cluster, which avoids the difficulty in tracking the moving target on the basis of ensuring the stability of cluster flight by visual operation and can ensure the stability and accurate tracking of the cluster.
Detailed Description
The example embodiments may be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features or characteristics may be combined in any suitable manner in one or more embodiments.
The method for tracking the moving target by the unmanned aerial vehicle group comprises the following steps:
the first step is as follows: setting a termination tracking parameter, and establishing a moving object motion model equation;
the second step is that: obtaining distance observation values of a plurality of unmanned aerial vehicles (more than four) to a moving target;
the third step: obtaining the view angle of the moving target on the unmanned aerial vehicle according to the distance observation value;
the fourth step: determining the motion direction of the unmanned aerial vehicle according to the view rotation angle;
the fifth step: and adjusting the motion direction to track the target until reaching the defined minimum distance and angle.
The first step is as follows:
s101: setting a tracking termination parameter, wherein the tracking termination parameter is as follows: distance D, pitch angle θ, yaw angle
S102: establishing a moving object model equation:
wherein dt is a time sampling interval, x (k) is an instantaneous position of the moving object at a kth sampling interval, v (k) is an instantaneous speed of the moving object at the kth sampling interval, a (k) is an instantaneous acceleration of the moving object at the kth sampling interval, and w (k) is noise suffered by the moving object at the kth sampling interval.
The second step is as follows:
s201: at the kth time, the coordinate x (k) of the moving object to be obtained is set to (x, y, z) T The nth known space has three-dimensional coordinates of (x) (n) ,y (n) ,z (n) ) The distance from the unmanned aerial vehicle to the sensor to be solved is r (n) Obtaining a total of N corresponding distances r (n) (n＝1,2,…,N)；
S202: the measured values are rewritten as:
wherein
Formula (2) is
SX(k)＝L (4)
S203: and obtaining the instantaneous position of the moving target at the kth moment as follows:
X(k)＝(S T S) -1 S T L (5)。
the third step is specifically as follows:
s301: obtaining a series of instantaneous values V (k), A (k) of the moving target according to the formula (1);
s302: obtaining the rotation angle alpha (k) of a series of speed vectors of the moving target; wherein:
further, the step S4 is specifically as follows:
s401: according to the target instantaneous position and X (k) ═ x, y, z) T Unmanned plane position (x) (n) ,y (n) ,z (n) ) And a distance r (n) Obtaining corresponding direction vector
S402: calculating a preset meeting vector 2dtV (k) of the motion of the moving target;
s403: calculating the speed steering angle of the unmanned aerial vehicle according to the following formula;
s404: the drone tracks the direction of speed by pointing to the moving object, i.e. along
And adjusting the preset meeting point to the target motion.
Step S404 is specifically: with drone on target-oriented basis, i.e. along
On the basis, the speed steering angle beta (k) is increased along the direction V (k)/| | V (k) | direction of the meeting point of the target motion, and the speed direction of the unmanned aerial vehicle is changed into:
the fifth step is as follows:
s501: increasing a rotation angle beta (k) to the direction of V (k)/| | V (k) | | from the original direction of the speed;
s502: judging the distance r of the moving target (n) If the tracking error is smaller than the set value D, stopping tracking if the tracking error is smaller than or equal to the set value D, and returning to the step S401 if the tracking error is larger than the set value D; then the pitch angle theta and the yaw angle are appointed
And moving to enable the moving target to reach the limited visual field.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
Claims (3)
1. The method for tracking the moving target by the unmanned aerial vehicle group is characterized by comprising the following steps:
s1: setting an unmanned aerial vehicle group termination tracking parameter, and establishing a moving object motion model equation;
s101: setting a tracking termination parameter, wherein the tracking termination parameter is as follows: distance D, pitch angle θ, yaw angle
S102: establishing a moving object model equation:
wherein dt is a time sampling interval, X (k) is the instantaneous position of the moving target at the kth sampling interval, V (k) is the instantaneous speed of the moving target at the kth sampling interval, A (k) is the instantaneous acceleration of the moving target at the kth sampling interval, and W (k) is the noise suffered by the moving target at the kth sampling interval;
s2: obtaining distance observation values of a plurality of unmanned aerial vehicles to a moving target;
s201: at the kth time, the coordinate x (k) of the moving object to be obtained is set to (x, y, z) T The known space three-dimensional coordinate of the nth frame is (x) (n) ，y (n) ，z (n) ) The distance from the unmanned aerial vehicle to the sensor to be solved is r (n) Obtaining a total of N corresponding distances r (n) Wherein N is 1, 2, …, N;
s202: the measured values are rewritten as:
wherein
Formula (2) is
SX(k)＝L (4)
S203: and solving the instantaneous position of the moving target at the kth moment as follows:
X(k)＝(S T S) -1 S T L (5)
s3: obtaining the view angle of the moving target on the unmanned aerial vehicle according to the distance observation value;
s301: obtaining a series of instantaneous values V (k), A (k) of the moving target according to the formula (1);
s302: obtaining the rotation angle alpha (k) of a series of speed vectors of the moving target; wherein:
wherein V (k) represents the instantaneous three-dimensional space velocity vector for the kth sampling interval; a (k) represents the instantaneous three-dimensional space acceleration vector of the kth sampling interval; v (k-1) represents the instantaneous three-dimensional space velocity vector at the k-1 time instant; a (k-1) represents the instantaneous three-dimensional space acceleration vector at the k-1 time;
s4: determining the motion direction of the unmanned aerial vehicle according to the view rotation angle;
s401: according to the target instantaneous position X (k) ═ x, y, z) T With unmanned plane position (x) (n) ，y (n) ，z (n) ) And a distance r (n) Obtaining corresponding direction vector
S402: calculating a preset meeting vector 2dtV (k) of the motion of the moving target;
s403: calculating the speed steering angle of the unmanned aerial vehicle according to the following formula;
s404: the drone tracks the direction of speed by pointing to the moving object, i.e. along
Adjusting a preset meeting point moving towards a target;
with drone on target-oriented basis, i.e. along
On the basis, the speed steering angle β (k) is increased along the direction of the meeting point of the target motion, namely the direction corresponding to v (k)/| v (k) | |, and the speed direction of the unmanned aerial vehicle is changed into:
s5: and adjusting the moving direction to track the target until reaching the defined distance and angle.
2. The method for tracking a moving object by a cluster of drones as claimed in claim 1, wherein the number of drones in step S2 is greater than four.
3. The method for tracking the moving target by the unmanned aerial vehicle group according to claim 1 or 2, wherein the step S5 is as follows:
s501: increasing a rotation angle beta (k) to the direction of V (k)/| | V (k) | | from the original direction of the speed;
s502: judging the distance r of the moving target (n) Whether the current time is less than the set value D or not, if the current time is less than or equal to the set value D, the tracking is stopped, and if the current time is more than the set value D, the step S401 is returned;then the pitch angle theta and the yaw angle are appointed
And moving to enable the moving target to reach the limited visual field.
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| CN110825112A (en) * | 2019-11-22 | 2020-02-21 | 渤海大学 | Oil field dynamic invasion target tracking system and method based on multiple unmanned aerial vehicles |
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| US7970507B2 (en) * | 2008-01-23 | 2011-06-28 | Honeywell International Inc. | Method and system for autonomous tracking of a mobile target by an unmanned aerial vehicle |
| JP6014485B2 (en) * | 2012-12-21 | 2016-10-25 | セコム株式会社 | Autonomous flying robot |
| CN106406359B (en) * | 2016-08-30 | 2019-08-02 | 南京航空航天大学 | A kind of fixed-wing unmanned plane Tracking Ground Targets method of guidance based on virtual target |
| CN108227736B (en) * | 2017-12-18 | 2020-09-18 | 南京航空航天大学 | Fixed wing unmanned aerial vehicle formation tracking guidance method based on ranging signals |
| CN110032214B (en) * | 2019-04-17 | 2022-04-01 | 中国人民解放军海军航空大学 | Vector field-based fast Standoff target tracking method |
| CN112198886B (en) * | 2019-12-31 | 2021-08-27 | 北京理工大学 | Unmanned aerial vehicle control method for tracking maneuvering target |
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| CN105652891A (en) * | 2016-03-02 | 2016-06-08 | 中山大学 | Unmanned gyroplane moving target autonomous tracking device and control method thereof |
| CN110825112A (en) * | 2019-11-22 | 2020-02-21 | 渤海大学 | Oil field dynamic invasion target tracking system and method based on multiple unmanned aerial vehicles |
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