摘要
针对不确定先验信息条件下的目标搜索问题,考虑传感器探测概率和虚警概率,设计了基于Beta分布的目标搜索概率自适应更新策略。首先,通过Beta分布建立了不确定先验环境的概率地图,并提出自适应目标搜索概率更新策略,使得无人机能够根据概率信息图动态更新检测次数;其次,在概率更新策略中引入了拒绝概率修正因子,根据地图概率差动态调整概率变化量,避免了搜索任务中可能存在的误检漏检问题;最后,通过数值仿真实验,验证了提出的目标搜索自适应更新策略可在不影响搜索效率的前提下,有效减小无人机的错误检测概率。
In addressing the challenge of UAV target search under uncertain prior information conditions and with consideration of sensor detection probability and false alarm probability a probability-adaptive updating strategy for target search is devised.Firstly a probability map of the uncertain prior environment is established by using the Beta distribution.Subsequently an adaptive target search probability updating strategy is proposed enabling the UAV to dynamically adjust detection frequencies based on the probability information map.Furthermore within the probability updating strategy a rejection probability correction factor is introduced to dynamically regulate the probability change quantity based on map probability discrepancies thereby mitigating potential false positives and false negatives in the search task.Finally numerical simulation experiments validate that the proposed target search adaptive updating strategy can decrease UAV false detection probability effectively without compromising search efficiency.
作者
高瑞周
孔金涛
汤陈
彭秀辉
GAO Ruizhou;KONG Jintao;TANG Chen;PENG Xiuhui(Luoyang Institute of Electro-Optical Equipment AVIC,Luoyang 471000 China;College of Automation Engineering Nanjing University of Aeronautics and Astronautics,Nanjing 211000 China)
出处
《电光与控制》
CSCD
北大核心
2024年第11期102-108,共7页
Electronics Optics & Control
基金
国家自然科学基金青年项目(62103189)
航空科学基金(20220051052001)。
关键词
协同搜索
动态变化环境
BETA分布
自适应概率更新
cooperative search
dynamic changing environment
Beta distribution
adaptive probability updating
