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Front. Inform. Technol. Electron. Eng.  2014, Vol. 15 Issue (4): 284-292    DOI: 10.1631/jzus.C1300287
    
基于微分几何的运动目标协同对峙跟踪
Zhi-qiang Song, Hua-xiong Li, Chun-lin Chen, Xian-zhong Zhou, Feng Xu
Department of Control and System Engineering, School of Management and Engineering, Nanjing University, Nanjing 210093, China; Department of Information, Suzhou Institute of Trade and Commerce, Suzhou 215009, China; No. 207 Research Institute, China North Industries Group Corporation, Taiyuan 030006, China
Coordinated standoff tracking of moving targets using differential geometry
Zhi-qiang Song, Hua-xiong Li, Chun-lin Chen, Xian-zhong Zhou, Feng Xu
Department of Control and System Engineering, School of Management and Engineering, Nanjing University, Nanjing 210093, China; Department of Information, Suzhou Institute of Trade and Commerce, Suzhou 215009, China; No. 207 Research Institute, China North Industries Group Corporation, Taiyuan 030006, China
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摘要： 研究目的：在现代军事和民用领域，无人机可代替人类执行有风险的任务，如目标跟踪、监视、侦察、营救、区域覆盖、火力打击等。基于多个无人机的目标协同跟踪技术，在更有效地跟踪敌方入侵目标、决策和打击敌方入侵目标等方面具有重要意义。协同对峙跟踪是协同跟踪的一种模式。本文以微分几何为基础，提出一种新的协同对峙跟踪控制律。
创新要点：基于微分几何的协同对峙跟踪技术，使得多个无人机与目标保持对峙距离，且各无人机间保持一定相位。无人机在对峙圆内部时，采用如下简单、有效方法：若无人机航向与目标一致，偏离目标一定角度前行；否则，保持原有速度和航向行进。从理论上论证了运动目标对峙跟踪稳定性。
方法提亮：基于微分几何的控制律具备以下优点：算法实现简单且只需较少通信量；可以分析运动目标对峙跟踪的稳定性；在控制律中增加一个微分项，可在系统中引入一个有效的早期修正信号，从而加快系统动作速度，减少调节时间。
重要结论：在无人机与目标的速度比大于1的前提下，仿真实验表明了算法有效性。所提算法同样适用于在一定环境下多无人艇、多无人车对目标的协同对峙跟踪。
关键词： 无人机;  对峙跟踪;  微分几何;  协同控制    
Abstract: This research is concerned with coordinated standoff tracking, and a guidance law against a moving target is proposed by using differential geometry. We first present the geometry between the unmanned aircraft (UA) and the target to obtain the convergent solution of standoff tracking when the speed ratio of the UA to the target is larger than one. Then, the convergent solution is used to guide the UA onto the standoff tracking geometry. We propose an improved guidance law by adding a derivative term to the relevant algorithm. To keep the phase angle difference of multiple UAs, we add a second derivative term to the relevant control law. Simulations are done to demonstrate the feasibility and performance of the proposed approach. The proposed algorithm can achieve coordinated control of multiple UAs with its simplicity and stability in terms of the standoff distance and phase angle difference.
Key words: Unmanned aircraft    Standoff tracking    Differential geometry    Coordinated control
收稿日期: 2013-10-14 出版日期: 2014-04-10
CLC:  TP13  
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Zhi-qiang Song
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引用本文:

Zhi-qiang Song, Hua-xiong Li, Chun-lin Chen, Xian-zhong Zhou, Feng Xu. Coordinated standoff tracking of moving targets using differential geometry. Front. Inform. Technol. Electron. Eng., 2014, 15(4): 284-292.

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http://www.zjujournals.com/xueshu/fitee/CN/10.1631/jzus.C1300287    或    http://www.zjujournals.com/xueshu/fitee/CN/Y2014/V15/I4/284

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