Multi-UAVs Cooperative Ground Moving Target Tracking and Positioning Method

To solve the problems that the target cannot be continuously positioned and the positioning accuracy of the moving target is low, a multiple unmanned aerial vehicles(Multi-UAVs) cooperative ground moving target tracking and positioning method based on solving nonlinear equations, cooperative tracking control and Kalman filtering is proposed. Firstly, the target position is calculated by solving the nonlinear equations, which solves the problem that the target height value cannot be accurately solved in the traditional method. Then under static conditions, the UAVs formation shape when the positioning accuracy is optimal is obtained through simulation analysis. Secondly, to dispose of the problem that the UAVs cannot continuously locate the target with high precision, a multi-UAVs cooperative ground moving target tracking and positioning method is provided to ensure that the UAVs formation in the target positioning process always maintains the best formation shape to achieve continuous optimal target positioning. Thirdly, to solve the problems that the traditional phase angle-based phase control method is not easy to implement in engineering and the phase control is not robust, a phase control method based on UAVs spacing and sliding mode control is proposed. Finally, to achieve optimal high-precision target continuously positioning, Kalman filtering is introduced into the UAVs position information and target positioned results, which further improves the accuracy of target positioning. In the simulation environment, the performance of the multi-UAVs cooperative tracking control algorithm, the effectiveness of the positioning result filtering algorithm, and the continuous high accuracy of the tracking positioning results are verified.