基于UKF的双机协同纯角度目标定位路径规划

针对三维空间双机协同定位问题,在无迹卡尔曼滤波的基础上,提出一种规划双机路径的方法。首先,利用双机探测得到的方位角和俯仰角信息,并结合无迹卡尔曼滤波算法估计目标的状态;在此基础上根据交互信息理论提出指标函数的概念,以指标函数最大为轨迹优化的最优性能指标,将问题转化为求双机控制量的最优解;最后,采用遗传算法求解双机的控制量,得到比较合理的双机飞行路径。仿真结果表明,通过最大化指标函数可以有效地规划双机路径,且具有更高的精度和速度。

Dual-aircraft paths planning for cooperative bearing-only locating target based on UKF algorithm

To solve the problem of dual-aircraft cooperative locating target with bearing-only measurement in 3-dimention situation,a paths planning based on unscented Kalman filter(UKF) was proposed.Firstly,with the azimuth and pitch angles of the target measured by the aircrafts and UKF algorithm,the location and velocity of the target were estimated.And then the index function based on mutual information was proposed,the dual-aircraft paths planning was transferred to maximize the index function and to find the controlled variables of the aircrafts.Finally,the genetic algorithm was applied to find the controlled variables of the aircrafts,so that the proper paths of dual-aircraft were planned.The simulation results show that the index function can plan dual-aircraft's flight paths effectively,and it also has better performance in estimation accuracy.