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Status and Application of Artificial Intelligence-Based Cooperative Positioning and Navigation technology for UAV Clusters 1

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3rd International Conference on Autonomous Unmanned systems, ICAUS 2023

作者： Sheng, Danting Cheng, Jin Li, Fengyi Hao, Mingrui Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Intelligent Science and Technology Academy Limited of CASIC Beijing100041 China

ISBN: (数字)9789819710911

ISBN: (纸本)9789819710904

Aiming at the UAV cluster cooperative navigation, this paper tries to summarize the development experience and existing results on two issues, namely, the application of filtering and artificial intelligence in UAV cluster cooperative navigation. The application of filtering in UAV cluster cooperative navigation briefly describes the application of Kalman filtering and extended Kalman filtering, traceless Kalman filtering and other nonlinear filters, intelligent optimization algorithms combined with particle filtering in cooperative navigation. Artificial Intelligence Methods in Cooperative Navigation of UAV Clusters describes the application of deep feed-forward networks, brain-like information fusion methods based on integrated learning, multivariate interpolation of radial-based neural networks and Kalman filtering combined in the field of cooperative navigation. The results of existing applications of filtering and artificial intelligence in UAV cluster cooperative navigation are analyzed and summarized, and the future development of the field is outlooked. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Kalman filters

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Simulation Experiment Factor Screening Method Based on Combinatorial Optimization 21st

Simulation Experiment Factor Screening Method Based on Combi...

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21st Asia Simulation Conference, AsiaSim 2022

作者： Zhang, Peng Li, Wei Chen, Qingao Tong, Jiahui Control and Simulation Center Harbin Institute of Technology Harbin China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9789811991974

When conducting complex simulation experiments, experimental factor screening is of great significance to improve the effectiveness and efficiency of the simulation. Aiming at the problems of unsatisfactory accuracy and efficiency of existing experimental factor screening methods, a simulation experiment factor screening method based on combinatorial optimization (EFS-CO) was designed. EFS-CO abstracts the experimental factor screening problem into a combinatorial optimization problem, designs the experimental factor evaluation criteria based on the support vector machine model, uses it as the fitness function of the genetic algorithm, and finally obtains the significant experimental factor. At the same time, to eliminate the influence of the randomness of the genetic algorithm on the screening results, the screening results of the experimental factors were determined based on the results of multiple experiments. Finally, the effectiveness of the method is verified by example analysis and comparing the results with the traditional experimental factor screening method. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Combinatorial optimization

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UAV Training control and Evaluation Method Based on Dynamic Task Construction 17th

UAV Training Control and Evaluation Method Based on Dynamic ...

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17th Chinese intelligent systems Conference, CISC 2021

作者： Tong, Jiahui Zhang, Qing Ran, Jian Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electromechanical Engineering Institute Beijing China

ISBN: (纸本)9789811663277

In view of the problems such as high cost, low training efficiency and lack of versatility, a design scheme of UAV simulation training system based on dynamic mission construction is proposed, and the reproducing dynamic mission environment simulation technology and UAV training control and result evaluation and method are described in detail. The evaluation system of UAV simulation training results based on multi-factor influence data is constructed, which can effectively guide the simulation training of multi-type UAV and improve the overall training effect of UAV operators by synthesizing historical training data and real-time training data. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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Research on Simulation Method of Space-Ground Consistency for UAV Cluster Combat

Research on Simulation Method of Space-Ground Consistency fo...

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International Conference on Autonomous Unmanned systems, ICAUS 2021

作者： Qing, Zhang Jing, Li Jiahui, Tong Jian, Han Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electromechanical Engineering Institute Beijing China

ISBN: (纸本)9789811694912

The Space-ground consistency of the unmanned aerial vehicle (UAV) cluster combat distributed interactive simulation system is the fundamental guarantee to simulate and reproduce the authenticity and correctness of UAV cluster combat mission, combat environment and combat process. This paper analyzes the common inconsistency problems of UAV cluster combat distributed simulation system, gives the technical connotation of the space-ground consistency of UAV cluster combat simulation, deeply analyzes all kinds of factors that affect the consistency of UAV cluster combat simulation space and ground, and puts forward the control methods of time-space consistency of UAV cluster combat simulation system, the control strategies and suggestions of model consistency and service consistency. It provides a theoretical basis and technical support for the construction of distributed interactive simulation system for UAV cluster combat. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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Cross-cycle iterative unmanned aerial vehicle reentry guidance based on reinforcement learning

Cross-cycle iterative unmanned aerial vehicle reentry guidan...

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2019 IEEE International Conference on Unmanned systems, ICUS 2019

作者： Cheng, Yang Shui, Zunshi Xu, Cheng Feng, Tianyu Jiang, Yiyang Beijing Aerospace Technology Research Institute Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781728137926

The traditional predictive correction algorithm requires a large number of iterative calculations for the predicted trajectory, which greatly occupies a large amount of computing resources, so that the real-time solution of the guidance command can not be guaranteed, and the guidance accuracy will have a large impact. And the prediction correction guidance requires the algorithm to have the ability of selfadaptation and intelligent learning. Therefore, this paper proposes a cross-cycle iterative hypersonic UAV predictive correction guidance method based on reinforcement learning. The parametric control variable (CVP) method is used to construct the parametric model of the guidance command. The actor-critic-based reinforcement learning method is used to solve the guidance command in real time, and the guidance information is effectively transmitted in the adjacent guidance solution cycle. The guidance error converges to within the allowable accuracy range during the cross-cycle iteration. Monte Carlo simulation shows that the proposed method has good adaptability to initial conditions and flight parameter uncertainty, and can guarantee the real-time performance of the guidance command while achieving high-precision guidance. © 2019 IEEE.

关键词： Reinforcement learning

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Relative navigation method for unmanned aerial vehicles formation using consensus unscented Kalman filter 6

Relative navigation method for unmanned aerial vehicles form...

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6th International Symposium on Autonomous systems, ISAS 2023

作者： Zhuang, Zhixing Gong, Baichun Ding, Xin Hao, Mingrui Chen, Linxiu Nanjing University of Aeronautics and Astronautics Nanjing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9798350316155

A relative navigation method in which the measurement information between aircraft only has distance or angle was proposed to achieve accurate relative navigation between aircraft formations in the global navigation satellite system (GNSS) Denied Environment. In addition, four relative measurement schemes are analyzed. An augmented state is introduced in the relative navigation system model, and the observability analysis of the navigation system is carried out relying on the Lie derivative theory, which gives the limitation of motion: the relative position and velocity of the aircraft cannot be parallel or zero, and a single aircraft cannot keep flying straight. A consensus unscented Kalman filter (CUKF) algorithm is established using the geometric characteristics in flight. The observability of the system state is improved after using the additional constraint. Finally, a standard Monte Carlo simulation system is established, and the system simulation is carried out, which shows that the Observability analysis is verified to be correct, and the algorithm demonstrates high accuracy. © 2023 IEEE.

关键词： Observability

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A GPR-Aided Method for Collaborative Relative Navigation for Multiple Unmanned Aerial Vehicles During Ranging Measurement Outages 6

A GPR-Aided Method for Collaborative Relative Navigation for...

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6th International Symposium on Autonomous systems, ISAS 2023

作者： Ding, Xin Hao, Mingrui Gong, Baichun Chen, Linxiu Zhuang, Zhixing Nanjing University of Aeronautics and Astronautics Nanjing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9798350316155

To maintain reliable relative navigation accuracy of unmanned aerial vehicles (UAVs) during range measurement outages, a GPR-aided ranging method is proposed to assist the extended Kalman filter for measurement updates. Specifically, when the on-board ranging measurement is available, a Gaussian process regression (GPR) algorithm is used to train the mapping model between acceleration, angular velocity of the inertial navigation system (INS), relative position, and the ranging distance. When ranging measurement is unavailable, the trained GPR algorithm is used for distance prediction, replacing the ranging measurement and being used for consensus extended Kalman filter (CEKF) measurement update to reduce the degree of relative navigation error divergence. Numerical simulation was conducted with three UAVs performing cooperative flight, the results show that the proposed algorithm can provide reliable distance prediction during ranging outage and effectively reduce the divergence of relative state estimation error. © 2023 IEEE.

关键词： Inertial navigation systems

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Dual and reduced-order observer based attack-free protocols for consensus of multi-agent systems with Markovian switching topologies

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systems and control Letters 2025年 202卷

作者： Gao, Tian-Yu Li, Zhao-Yan Zhou, Bin Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin150001 China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin150001 China School of Mathematics Harbin Institute of Technology Harbin150001 China Zhengzhou Research Institute of HIT Zhengzhou450000 China

This paper studies the output feedback consensus problem of linear multi-agent systems with Markovian switching topologies. To avoid reconstructing the Markovian switching topologies during designing the observers or adding the state of the observers to the information exchange loop, dual and reduced-order observer based attack-free consensus protocols are proposed, which only utilizes the relative outputs of neighboring agents. It is shown that, under certain mild conditions, a necessary and sufficient condition for the solvability of the mean square consensus problem is that the union of switching topologies has a spanning tree. Finally, numerical examples are given to illustrate the effectiveness of the proposed approaches. © 2025 Elsevier B.V.

关键词： Markov processes

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Research on general system level training simulation technology of mid-and high-end military uav

Research on general system level training simulation technol...

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Chinese intelligent systems Conference, CISC 2020

作者： Zhang, Qing Tong, Jiahui Li, Haifeng Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electromechanical Engineering Institute Beijing China

ISBN: (纸本)9789811584497

A common training simulation system is proposed for the general-purpose and efficient control training needs of the mid-and highend military UAV system. The general modeling technology and processconfigurable interface protocol modeling method are adopted to realize the rapid construction of flight simulation subsystem of various aircraft models. A scheme based on general bus monitoring and fast extraction equipment is designed to realize the fast embedded real-time control training of UAV with different physical devices. A self-correctable control and evaluation method of UAV training based on multi-sample statistics is proposed to enhance the targeted strengthening setting of training subjects for trainees, so as to improve training efficiency and training effect. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2021.

关键词： Extraction

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Preliminary Study on the Method of Generating Infrared Image Based on CycleGAN 19th

Preliminary Study on the Method of Generating Infrared Image...

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19th Chinese intelligent systems Conference, CISC 2023

作者： Sun, Baiping Tong, Jiahui Geng, Huapin Beijing Electromechanical Engineering Institute Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9789819968855

Traditional infrared scene simulation method mainly includes the establishment of 3D geometric model of the target, the establishment of scene radiation model, the relationship mapping between infrared radiation and infrared image gray value and other steps. The whole process is tedious, and contain more calculated parameters. This paper introduce CycleGAN network, draw on its ring network structure and unpaired data or paired data as a training set, realize the advantages of domain image conversion effect, explore the visible light image conversion into corresponding infrared image, solve the problems such as samples in the process of infrared imaging simulation is limited, fidelity is low, and coverage is limited. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Infrared radiation

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