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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers >Multi-unmanned aerial vehicle multi acoustic source localization
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Multi-unmanned aerial vehicle multi acoustic source localization

机译：多人空中车辆多声学源定位

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摘要

This paper addresses a multisource localization problem with multiple unmanned aerial vehicles equipped with appropriate sensors coordinating with each other, wherein the sources are simultaneously emitting identical acoustic signals. Distributed coordinated localization algorithms based on multiple range and direction measurements are presented and performances are evaluated in different practically significant mission scenarios. Non-deterministic polynomial (NP) hardness to determine optimal number of unmanned aerial vehicles for a given mission scenario is discussed. Group coordination, tactical path, and goal replan strategies to enable efficient localization of single and multiple acoustic sources have been designed. The localization algorithm along with coordination strategy is verified in the presence of realistic error conditions through simulation.
机译：本文涉及具有配备有适当的传感器的多个无人航空车辆彼此配备的多个无人空中车辆，其中源同时发射相同的声学信号。提出了基于多个范围和方向测量的分布式协调定位算法，并且在不同实际显着的使命场景中评估了性能。讨论了非确定性多项式（NP）硬度，以确定给定任务方案的无人航空车辆的最佳数量。设计了群体协调，战术路径和目标重新策略，以实现单一声道和多个声源的有效本地化。通过模拟在现实错误条件存在下验证了本地化算法以及协调策略。

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