考虑信息成功传递概率的多无人机协同目标最优观测与跟踪

针对考虑通信因素的多无人机协同目标最优观测与跟踪问题, 引入费舍信息矩阵对无人机探测所获取的信息进行表征, 考虑无线通信链路特性并对无人机间信息成功传递概率进行建模. 以无人机群体所获取的关于目标的信息量为指标函数, 分别建立是否考虑通信因素情况下的多机协同目标最优观测及跟踪问题模型. 对两种情况下的多机协同目标观测与跟踪进行仿真比较, 仿真结果验证了所建模型的有效性, 并体现了通信因素的重要影响.

Cooperative localization and tracking of multiple targets with the communication-aware unmanned aerial vehicle system

The problem of communication-aware unmanned aerial vehicle(UAV) placement and motion planning for target localization and tracking is investigated. The Fisher information matrix is introduced to model the information obtained from the measurements. The information is shared in the multihop wireless network which provides the communication. And the probability of the successful information transmission is modeled as a function of the signal-to-noise ratio. The models of communication-aware placement and motion planning for target localization and tracking are established for multiple stationary and mobile targets respectively. The simulation results show the effectiveness of the models and the effect of the communication on the UAV group behaviors.