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目前大多数无人机(UAV)跟踪地面目标都利用单个UAV进行跟踪,现研究采用两个UAV对地面目标进行跟踪.每一个UAV都有各自的指引规则,近距离跟踪UAV的指引规则要求持续在目标上方飞行,有最佳的飞行耐久性.远距离跟踪UAV的指引规则要求对目标有固定的距离和高度,能够反复监视,保证对地面目标最大的可视性.由于设定两个UAV处于较大间距的不同高度,两UAV发生碰撞的可能性非常小.仿真实验利用有明显标志的汽车作为跟踪目标,背景环境较为单一,两UAV的航线表明,在有风和无风、目标静止和运动的情况下,其航线均有一定规律可循,从跟踪效果看,两UAV取得了明显的协同效果.
At present, most UAV tracking ground targets are tracked by a single UAV, and two UAVs are used to track ground targets. Each UAV has its own guiding rules and the guiding rules for tracking UAVs at a long distance Flying over the target with optimal flight durability Guidance rules for long-range tracking of UAVs require a fixed distance and height to the target and can be monitored repeatedly to ensure maximum visibility to ground targets. Since two UAVs At different heights, the two UAVs are very unlikely to collide.The simulation experiments using vehicles with obvious signs as the tracking target and the background environment are relatively simple. The flight paths of the two UAVs show that when the windy and windless, the target stationary And the movement of the case, the route has a certain rule to follow, from the tracking effect, the two UAV has achieved significant synergies.