摘要
为解决复杂通信条件下的多无人机协同目标观测问题,提出了基于多智能体一致性理论的分布式状态估计方法.考虑到松散通信结构和通信条件的复杂性,设计双时窗递推迭代机制,即预测/更新时间窗和一致性融合时间窗,用来提高分布式系统的滤波精度.基于一致性融合算法,提出了分布式无色信息滤波方法.从理论上分析了一致性融合算法收敛性对估计精度的影响,揭示该方法的估计协方差劣于集中式方法的根本原因.蒙特卡洛仿真实验表明,该方法对复杂通信条件具有较强的鲁棒性,在平均估计误差、平均一致性误差及平均协方差矩阵迹等方面表现出色,能够满足复杂通信条件下多无人机系统对非线性目标模型状态实时估算的要求.
To solve the problem of cooperative target observation for a multiple UAV （ unmanned aerial vehicle ） system with a complex communication condition, we propose a distributed state estimation method based on multi-agent consensus theory. Considering the loose communication structure and the complexity of the com- munication condition, we design an iteration mechanism with double-time windows, including a local predic- tion/update window and a consensus fi^sion window, to improve the t^lter precision of the distributed system. Then, we propose a filter method for distributed unscented information based on the consensus algorithm. The influence of the convergence property of the consensus algorithm on the estimation precision is analyzed theo- retically, revealing the fundamental reason why the covariance error of＂ the proposed method is greater than that of the centralized method. The Monte C^rlo simulation experiments indicate that the propnsed method is robust to complex network constraints, and has outstanding performance on average estimation error, average consistency en＇or and average trace of the covariance matrix. This method can meet the requirement for the re- al time estimation of non-linear targets tor a multiple UAV system under a complex network.
出处
《信息与控制》
CSCD
北大核心
2014年第6期654-663,共10页
Information and Control
基金
国家自然科学基金资助项目(61203355)
吉林省科技发展计划资助项目(20130522108JH)
关键词
一致性
分布式无色信息滤波
目标跟踪
复杂通信条件
consensus
distributed unscented informarion filter
target tracking
coiuplex communication condition
