摘要
分布式无人机集群航迹融合是以网络为中心的无人机信息系统实现目标态势图共享需解决的问题。首先,分析了网络中心化信息系统的结构特点,提出了分布式无人机信息处理分层结构;然后,建立了分布式无人机航迹融合的模型方法,分析了目标航迹质量(TQ)分级标准;最后,研究了航迹质量评估方法,针对雷达传感器和侦察传感器等在极坐标系下三维测量非相关性特点,从统计判决理论入手,推导出无人机航迹质量评估公式。评估结果表明,TQ值与传感器测量精度及目标运动状态有关,与航迹跟踪滤波器的收敛过程相匹配。该方法有较高的航迹质量评估可信度、实时性和实用性,有利于具体应用时与无人机航迹融合处理过程同步获取TQ值。
Distributed track fusion for the UAV swarming is a problem to share the target situation picture for the net-centric UAV information system.Firstly,the structure characteristics of the net-centric information system are analyzed,and the hierarchical structure for distributed information process is proposed.Then,the distributed track fusion model method for the UAV is constructed.The target track quality（TQ）classification standard is analyzed.Finally,the TQ evaluation method is studied.Aimed at the non-correlation feature of three-dimensional measurement in the polar coordinate system of the radar and reconnaissance sensors,the UAV TQ evaluation expressions is derived with the statistical decision theory.The evaluation result shows that TQ value is related with the sensor measurement precision and the target motion state,and is matched with the convergence process of the tracking filter.The method has high reliability,real time capability and practicability for TQ evaluation,thus in favor of synchronous obtaining TQ value during the application procedure of the UAV track fusion.
作者
毛亿
张哲铭
刘蓉
MAO Yi;ZHANG Zheming;LIU Rong(Middle and Small Size UAV Advanced Technique Key Laboratory of Industry and Information Technology UAV Research Institute,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;State Key Laboratory of Air Traffic Management System and Technology,Nanjing 210007,China;National Airspace Management Centre,Beijing 100094,China)
出处
《指挥信息系统与技术》
2018年第4期53-57,共5页
Command Information System and Technology
基金
陆装装备部"十三五"预研课题(30102080101)
中央高校基本科研(2017209)
航空科学基金(20165852052)资助项目
关键词
无人机集群
航迹质量
测量精度
UAV swarming
track quality
measurement accuracy
