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首页> 外文期刊>Journal of guidance, control, and dynamics >Cooperative Target Localization with a Communication-Aware Unmanned Aircraft System
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Cooperative Target Localization with a Communication-Aware Unmanned Aircraft System

机译：具有通信意识的无人机系统的合作目标定位

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This paper presents an approach to generating information-gathering trajectories for a cooperative unmanned aircraft system that takes into account the reh'ability of multihop networked communication. The algorithms presented here implicitly consider the communication limitations of the aircraft within a path-planning algorithm in which there is a position dependency on both the sensing and communication capabilities of the network. A communication-aware performance metric is derived by combining the extended information filter with a packet-erasure channel model and stochastic model of packet routing. Informative trajectories that maximize this metric are generated by a distributed, hierarchical planning algorithm. Flight' results are used to characterize the communication channel model for use in a multivehicle simulation. Finally, simulation studies are used to evaluate the path-planning approach through the specific application of stationary WiFi source localization. These studies show that the approach leads to improved estimation performance relative to path-planning that does not consider communication reliability. Further, the approach leads to the emergence of natural roles whereby some of the aircraft contribute largely to the sensing portion of the objective, while others improve communication reliability by serving mainly as communication relays.
机译：本文提出了一种方法，该方法考虑到多跳网络通信的可靠性，为协作式无人飞机系统生成信息收集轨迹。此处提出的算法在路径规划算法内隐含地考虑了飞机的通信限制，其中，位置依赖于网络的感知和通信能力。通过将扩展信息过滤器与数据包擦除信道模型和数据包路由的随机模型相结合，可以得出通信感知性能指标。通过分布式的分层计划算法可以生成使该指标最大化的信息轨迹。飞行的结果用于表征用于多车仿真的通信通道模型。最后，仿真研究用于通过固定WiFi源定位的特定应用来评估路径规划方法。这些研究表明，与不考虑通信可靠性的路径规划相比，该方法可提高估计性能。此外，该方法导致自然角色的出现，其中一些飞机对物镜的感测部分有很大贡献，而其他飞机则主要通过充当通信中继器来提高通信可靠性。

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