强大的无人机在电子干扰中跟踪,使用辅助颗粒过器
Le Qi1, Tao Zhang1, Guoming Chen1
1Aviation Maintenance NCO School, Air Force Engineering University, Xinyang, Henan, China.
PloS one
|September 29, 2025
概括
本研究介绍了一种新的辅助颗粒过器 (APF),用于强大的无人机跟踪,在电子干扰下显著提高精度. APF的性能优于传统的过器,在充满挑战的环境中确保可靠的导航.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 信号处理 信号处理
- 导航和指导的导航和指导.
背景情况:
- 电子干扰显著降低了无人机的追踪准确性和安全性.
- 现有的跟踪过器,如EKF和UKF,都在与干扰引起的测量误差作斗争.
- 监视和灾难响应等关键应用需要强大的无人机导航.
研究的目的:
- 引入和评估一种新型的辅助颗粒过器 (APF),用于在电子干扰下强大的无人机跟踪.
- 为了证明APF在减轻干扰引起的测量误差方面的有效性.
- 为固定参考场景提供实施指南,以便在实践中采用.
主要方法:
- 开发和应用辅助颗粒过器 (APF) 具有适应性提案分布.
- 实施可靠的重量更新以抵消干扰效应.
- 在各种干扰级别和传感器退化下评估性能的全面模拟.
主要成果:
- 该APF实现了4.82米的平均根平均平方误差 (RMSE),表现优于EKF和UKF.
- 即使在严重干扰下,APF也保持了稳定的性能,与传统过器不同.
- 统计验证证实所有测试场景的显著改善 (p < 0.001).
结论:
- 辅助颗粒过器 (APF) 为无人机在易受干扰的环境中进行跟踪提供了强大而可靠的解决方案.
- 在关键无人机应用中,APF提高了导航准确性和操作安全性.
- 这项研究为使APF适应更动态的自主无人机跟踪场景铺平了道路.
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