基于Leader-Follower编队的无人机协同跟踪地面目标制导律设计

doi:10.7527/S1000-6893.2017.21497

电子电气工程与控制

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基于Leader-Follower编队的无人机协同跟踪地面目标制导律设计

张民, 夏卫政, 黄坤, 陈欣

南京航空航天大学自动化学院, 南京 210016

收稿日期:2017-06-09 修回日期:2017-09-28 出版日期:2018-02-15 发布日期:2017-10-10
通讯作者: 张民,E-mail:154552879@qq.com E-mail:zhangmin@nuaa.edu.cn
基金资助:
航空科学基金（20160152001）

Guidance law for cooperative tracking of a ground target based on leader-follower formation of UAVs

ZHANG Min, XIA Weizheng, HUANG Kun, CHEN Xin

College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received:2017-06-09 Revised:2017-09-28 Online:2018-02-15 Published:2017-10-10
Supported by:
Aeronautical Science Foundation of China (20160152001)

摘要/Abstract

摘要： 对地面目标的自动跟踪是无人机在任务应用阶段需要解决的重要问题之一，多无人机协同跟踪能够提高对目标运动状态的估计精度并降低目标丢失的概率，因而具有重要研究意义。本文提出了一种基于Leader-Follower编队的无人机协同跟踪制导方法，解决了传统Standoff跟踪模式对地面目标的速度范围限制问题。首先，通过控制无人机的航向不断趋近于地面目标牵连跟踪圆切线方向的方法设计了Leader无人机自动跟踪地面目标的制导律并完成了稳定性证明；其次，通过控制Follower无人机的速度和航向角逐渐趋近于Leader无人机速度和航向的协同跟踪策略，分别设计了Follower无人机自动跟踪Leader无人机的制导律和编队相位协同制导律并完成了稳定性证明；最后，分别针对静止目标、匀速直线运动目标和变速运动目标的跟踪问题进行了仿真验证，结果表明所提出的制导方法能够实现对不同运动状态地面目标的自动协同跟踪，并且跟踪性能优于基于李雅普诺夫向量法的制导方法。

关键词: 无人机, 编队, 协同跟踪, 地面目标, 李雅普诺夫稳定

Abstract: Ground target tracking is one of the important issues for Unmanned Aerial Vehicles (UAVs) in the mission application stage. Multi-UAV cooperative tracking can reduce the probability of losing the target and improve the estimation accuracy. This paper presents a method of guidance law for cooperative tracking based on leader-follower formation of UAVs, which solves the problem of speed range limitation of traditional standoff tracking method. By controlling the heading of the leader UAV in approaching the tangential direction of the tracking circle, a new guidance law for the leader UAV is designed, and the close-loop system stability of the law is proved. By controlling the speed and heading of the follower UAV in approaching the speed and heading of the leader UAV, new guidance laws for tracking of the leader UAV and controlling of the inter-UAV angle of the formation are designed for the follower UAVs, and the stability of the laws are also proved using two Lyapunov functions. Simulation results of tracking the static target, the constant speed target and the variable speed target show that the proposed guidance method can achieve the cooperative tracking of the ground targets with different motions, and the tracking performance is better than the classic Lyapunov vector method under the same simulation conditions.

Key words: Unmanned Aerial Vehicle (UAV), formation, cooperative tracking, ground target, Lyapunov stability

中图分类号:

V279

张民, 夏卫政, 黄坤, 陈欣. 基于Leader-Follower编队的无人机协同跟踪地面目标制导律设计[J]. 航空学报, 2018, 39(2): 321497-321497.

ZHANG Min, XIA Weizheng, HUANG Kun, CHEN Xin. Guidance law for cooperative tracking of a ground target based on leader-follower formation of UAVs[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2018, 39(2): 321497-321497.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

基于Leader-Follower编队的无人机协同跟踪地面目标制导律设计

Guidance law for cooperative tracking of a ground target based on leader-follower formation of UAVs

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