基于信息素的无人机协同定位航路规划技术

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Pheromone-based coordination of multiple unmanned air vehicles for emitter geolocation and path planning

TIAN Da，WU Kezhao，HUANG Jinlei，GAO Yang，SONG Haiwei （Nanjing Electronic Equipment Research Institute，Nanjing 21OOOo，Jiangsu， China）

Abstract： A distributed swarming control and sensing data fusion framework for multiple unmanned air vehicles in collaborative searching and passive geolocation with local communication constraint is studied.Leveraging the collective intelligence observed in ant colony foraging，a bio-inspired approach for emitter geolocation processing and path planning based on pheromone-driven information fusion is developed.Simulations validate the approach，while analysis reveals how critical parameters， such as communication range and swarm size，govern system performance.

Key words：unmanned air vehicles； distributed control; pheromone; geolocation; path planning

0 引言

无人机多机无源定位系统通过被动接收测量射频辐射源信号对地面固定或慢速运动目标进行协同搜索定位，具有无源工作安全隐蔽、成本低廉等显著优势，不仅在军事领域中发挥着重要作用，而且在环境监测、应急救援等领域的应用也越来越多。（剩余8940字）