刘雪娇,
彭冬亮
杭州电子科技大学自动化学院 杭州 310018
基金项目:国家自然科学基金(61673146, 61771028, 61973102)，电子信息控制重点实验室基金(6142105200102)
详细信息
作者简介:左燕：女，1980年生，副教授，研究方向为无源定位、目标跟踪、传感器管理
刘雪娇：女，1995年生，硕士生，研究方向为无源定位、目标跟踪、传感器管理
彭冬亮：男，1977年生，教授，博士生导师，研究方向为目标跟踪、智能信息处理和信息融合
通讯作者:左燕 leftswallow@163.com
中图分类号:TN958.97计量
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被引次数:0
出版历程
收稿日期:2020-01-19
修回日期:2020-06-01
网络出版日期:2020-12-11
刊出日期:2021-04-20
UAV Path Planning for AOA-based Source Localization with Distance-Dependent Noises
Yan ZUO,,Xuejiao LIU,
Dongliang PENG
School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China
Funds:The National Natural Science Foundation of China (61673146, 61771028, 61973102), Fund of Science and Technology on Electronic Information Control Laboratory (6142105200102)
摘要
摘要:该文研究到达角度(AOA)协同定位下无人机路径优化问题。考虑实际AOA量测噪声方差是目标-传感器距离的函数，距离相关噪声特性使得AOA定位难度增加。为了更好地适应量测噪声随距离变化特性，该文提出一种变增益无迹卡尔曼滤波算法。随后，给出了距离相关噪声AOA定位下广义克劳美罗下界(GCRLB)。在此基础上理论分析了无约束最优传感器位置分布和约束条件下最优传感器位置分布。以GCRLB的迹最小化为目标函数建立AOA协同定位下多无人机路径规划问题，采用罚函数和LM算法优化求解，仿真验证了所提算法的有效性。
关键词:辐射源定位/
到达角度/
距离相关噪声/
广义克劳美罗下界/
路径优化
Abstract:An optimal path planning problem is investigated for Angle-Of-Arrival (AOA) source localization using Unmanned Aerial Vehicles (UAVs) equipped with passive sensors. The more realistic model is considered where the variance of AOA measurement noises is a function of the source-to-sensor distances, which complicates AOA-based source localization. A modified Variable Gain Unscented Kalman Filter (VG-UKF)is developed to adapt to distance-dependent variance of AOA measurement noises. The Generalized Cramer-Rao Lower Bound (GCRLB) of AOA localization is calculated. Further, the unconstrained optimal sensor placement and constrained optimal sensor placement are theoretically analyzed. Then a path planning model for UAVs is constructed with minimizing the trace of GCRLB, which is solved optimally with penalty function and LM (Levenberg-Marquardt) algorithm. The effectiveness of the proposed algorithm is illustrated with simulation results.
Key words:Source localization/
Angle of Arrival (AOA)/
Distance-dependent noises/
Generalized Cramer-Rao Lower Bound (GCRLB)/
Path Planning
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