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摘要:目标定位是无人机侦察系统中至关重要一步。为增强无人机侦察目标定位的实时性、提高定位精度及侦察效率，提出一种多目标实时定位的方法，建立主次目标定位几何关系及坐标转换模型，结合已知数据信息求取各目标大地坐标，并用蒙特卡洛法分析目标定位误差。最后，基于即将组网成功"北斗二代"卫星导航系统对无人机空中定位，同时采用递归最小二乘算法滤波处理，提高了目标定位精度。研究及实验结果表明，北斗导航定位能够有效提高无人机空中定位精度，且有望达到厘米级精度，同时采用RLS滤波处理能使目标定位精度提高10 m左右。该方法能够有效增强无人机定位实时性，提高定位精度及侦察效率。Abstract:Target location is a crucial step in UAV reconnaissance system. In order to enhance the real-time performance of UAV reconnaissance target location and improve location precision, an effective multi-target real-time location method is proposed, which establishes the primary and secondary target location geometric relationship and coordinate transformation model, and combines known data to obtain each target geodetic coordinates, as well as analyzes target location error through Monte Carlo method. Finally, based on the upcoming successful establishment of the Beidou Ⅱ satellite navigation system for the aerial positioning of the UAV, and the filter processing using the Recursive Least Squares algorithm, the target location accuracy is improved. The research and experimental results show that Beidou Ⅱ navigation positioning can effectively improve the aerial positioning accuracy of the UAV, and it is expected to achieve centimeter-level accuracy. At the same time, the RLS filter processing can improve the target positioning accuracy by about 10 m. It is concluded that this method can effectively enhance the real-time positioning of UAVs, improve positioning accuracy and reconnaissance efficiency.
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图 2各坐标系的定义及其相互关系示意图
Figure 2.Schematic diagram of definition of the coordinate system and their mutual relations
图 3目标自主定位的坐标转换流程
Figure 3.Process of self-determination orientation coordinate conversion
表 1多目标定位误差
Table 1.Error of multi-target location
目标 经度定位误差/(°) 纬度定位误差/(°) 大地高定位误差/m 平面定位误差/m 主目标 0.000 103 4 0.000 200 6 21.64 49.89 次目标1 0.000 145 6 0.000 217 2 22.47 82.82 次目标2 0.000 111 9 0.000 203 7 19.89 70.46 
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表 2RLS算法流程
Table 2.Flowchart of RLS algorithm
Algorithm RLS Filter: Input：xk,k=1, 2, …,t; Initialize：AN=I1×1; k=1,bN=[ANTANxk]; PN=()-1; Xk=PNANTbN; Andk=2,aN1=I1×1 Ifk≤tthen PN1=PN-PNaN1TaN1PN/(1+aN1PNaN1T); AN1=[ANaN1]T; bN1=[bNbN1]T; Xk=PN1AN1TbN1; else if PN=PN1； AN=AN1; bN=bN1; k=k+1,bN1=[xk]; returnXk 下载:
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表 3RLS滤波后多目标定位误差
Table 3.Errors of multi-target location after RLS filter
目标 经度定位误差/(°) 纬度定位误差/(°) 大地高定位误差/m 平面定位误差/m 主目标 0.000 093 4 0.000 191 6 9.64 23.06 次目标1 0.000 120 9 0.000 202 6 11.55 70.46 次目标2 0.000 105 3 0.000 207 1 10.63 62.94 下载:
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