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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.
Aiming at the problem of optimal observation and tracking of multi-UAV cooperative targets considering the communication factors, the Fisher information matrix is introduced to characterize the information obtained from the UAV detection. The wireless communication link characteristics are considered and the information between the UAVs is successfully transmitted Probabilistic model.Using the information about the target obtained by the UAV population as an index function, we establish respectively the optimal observation and tracking model of multi-aircraft cooperative target under the consideration of communication factors.For the two cases The simulation and comparison between the collaborative target observation and the tracking are carried out. The simulation results verify the validity of the model and reflect the important influence of the communication factors.