基于IMM-UIF的多无人机纯角度机动目标跟踪

Angle-only maneuvering target tracking by multi-UAV based on IMM-UIF

关键词:  无人机  目标跟踪  交互多模型  无迹信息滤波  分布式融合

Key words:  Unmanned aerial vehicle  Target tracking  Interactive multiple models  Unscented information filtering  Distributed fusion

摘要:

针对单无人机不能及时捕捉到目标的运动状态信息，很容易跟丢目标的问题，结合无迹信息滤波(UIF)算法和交互多模型(IMM)算法，提出了基于IMM-UIF的多无人机分布式融合估计算法。将各个无人机上的观测信息传输至中心节点，并统一优化各无人机的控制输入。仿真结果表明，基于IMM-UIF的多无人机分布式融合估计算法比基于IMM-UIF的单无人机跟踪精度提高了约30%，有效融合多无人机平台的量测信息，实现对目标稳定的高精度跟踪。

Abstract:

In view of the problem that a single UAV cannot timely capture the movement status information of the target, it is easy to lose track of the target. Combining the unscented information filtering (UIF) algorithm with the interactive multiple model (IMM) algorithm, a multi-UAV distributed fusion estimation algorithm based on IMM-UIF is proposed. The observation information from each UAV is transferred to a central node and the control inputs of each UAV is uniformly optimized. The simulation results show that the tracking accuracy of the multi-UAV distributed fusion estimation algorithm based on IMM-UIF is about 30% higher than that of the single UAV based on IMM-UIF, and the measurement information of the multi-UAV platform is effectively integrated to achieve stable and high-precision target tracking.