Distributed Array Planning Method with Layered Constraint in Multi-UAV Formation with Bearing-only Detection
作者单位：Unmanned Systems Research Institute Northwestern Polytechnical University
会议名称：《第43届中国控制会议》
会议日期：1000年
学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 081104[工学-模式识别与智能系统] 08[工学] 082503[工学-航空宇航制造工程] 0835[工学-软件工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）]
关 键 词：UAV formation layered constraint Distributed Stochastic Algorithm Geometry Dilution of Precision
摘 要：Multi-UAV formations for bearing-only detection are increasingly important in modern military confrontations, and the geometric array of the formation is one of the decisive factors affecting the detection accuracy of the system. This paper proposed the distributed stochastic subgradient projection algorithm(DSSPA) with layered constraint to solve this ***, the system model for cooperative positioning of UAV formation using bearing-only detection method was *** based on the constraints of safe flight altitude and fixed baseline, the UAV formation is layered. Then, the proposed DSSPA combines the idea of stochastic subgradient descent and the projection method, making it more suitable for processing the objective function including non-smooth and convex optimization parts. Simultaneously, by applying the projection operation on each feasible solution, it can ensure that the constraints of the problem are met when updating parameters. Finally, simulation experiment was set up to verify the effectiveness and superiority of the proposed distributed method in array planning of UAV formations with bearing-only detection.