KR102659484B1 - FLIGHT MANAGEMENT SYSTEM AND METHOD FOR TARGET TRACKING ON SPHERICAL SURFACE, AND tracking agent THEREFOR - Google Patents

Abstract

A flight management system and method for target tracking on a sphere and a tracking agent therefor are disclosed. The flight management system for target tracking on a spherical surface according to an embodiment of the present invention is placed at a preset position on the spherical surface and is connected to communication with a plurality of tracking agents, and determines at least two of the target's position, target's speed, and target's angular velocity. At least one communication agent that acquires target information including the above and transmits it to a plurality of tracking agents; And while flying on a sphere, they communicate with each other or with at least one communication agent to share information, generate a tracking algorithm using target information transmitted from the communication agent, and form a formation among each other according to the generated tracking algorithm. It includes a plurality of tracking agents that maintain track of the target.

Description

Flight management system and method for target tracking on a sphere, and tracking agent therefor {FLIGHT MANAGEMENT SYSTEM AND METHOD FOR TARGET TRACKING ON SPHERICAL SURFACE, AND tracking agent THEREFOR}

Embodiments of the present invention relate to a flight management system and method for target tracking on a sphere, and a tracking agent therefor.

How to track targets flying in the sky is emerging as a major issue in military and commercial fields. Recently, technology for tracking targets through multiple agents has been used in various fields. For example, it is often necessary to monitor and track unmanned aerial vehicles (UAVs) that are considered intruders into a specific space.

Meanwhile, an algorithm in which multiple agents track targets in local space can be derived by assuming a situation in which agents fly freely in a two-dimensional plane or limited three-dimensional space.

Recently, due to the rapid development of performance, unmanned aerial vehicles are increasingly performing missions not only in local spaces, but also in the entire globe.

Republic of Korea Patent Publication No. 10-2020-0031817 (2020. 03. 25.)

Embodiments of the present invention are intended to provide a flight management system and method for tracking a target on a spherical surface, with tracking agents forming a formation on a spherical surface, and a tracking agent for the same.

According to an exemplary embodiment of the present invention, a flight management system for target tracking on a spherical surface is disposed at a preset position on a spherical surface and is connected to communication with a plurality of tracking agents to determine the target's position, target's speed, and target's angular velocity. at least one communication agent that acquires target information including at least two of the following and transmits it to the plurality of tracking agents; and share information by communicating with each other or with the at least one communication agent while flying on a spherical surface, and generate a tracking algorithm using the target information transmitted from the communication agent, and according to the generated tracking algorithm. It includes a plurality of tracking agents that track the target while maintaining formation with each other.

The tracking agent may generate the tracking algorithm including cooperative control consisting of attractive and repulsive forces, target tracking coefficients, and normalized flocking operations on a sphere.

The tracking agent may generate a first tracking algorithm of a pattern adjacent to the target using information on the target including the location and speed of the target and information on the plurality of tracking agents.

When generating the first tracking algorithm, the tracking agent calculates its speed based on Equation 1, and Equation 1 is and the above is the location of the ith tracking agent and may be the speed of the ith tracking agent.

The tracking agent determines the flight direction and speed of each tracking agent by calculating its acceleration based on Equation 2, and Equation 2 is: and the above is a term representing the centripetal force of the tracking agent, is a term that determines the formation of a plurality of tracking agents, is the term that determines the direction in which the tracking agent will track the target, is a flocking term that maintains the formation of a plurality of tracking agents, and refers to the additional control terms of the tracking agent, and is a cooperative control parameter, is the location of the jth tracking agent, is the location of the target, is the speed of the target, is the target tracking coefficient for the location of the tracking agent, is the target tracking coefficient and the speed of the tracking agent may be a rotation operator.

The cooperative control parameters may include a coefficient of attraction between different tracking agents, a coefficient of repulsion between different tracking agents, and the positions of each of the different tracking agents.

The tracking agent has an additional control clause of the tracking agent ( ) can be set to 0.

The tracking agent reflects the angular velocity of the target in the first tracking algorithm using information on the target and the plurality of tracking agent information, including the location of the target, the speed of the target, and the angular velocity of the target. A second tracking algorithm of a pattern that contacts can be created.

When generating the second tracking algorithm, the tracking agent determines the flight direction and speed of each tracking agent by calculating its acceleration based on Equation 2, and the additional control term of the tracking agent ( ) is set to Equation 3, and Equation 3 is: and the above silver time means the angular velocity of the target in It can be.

The tracking agent includes a target tracking coefficient for the tracking agent's speed, a rotation operator, a flocking term for maintaining the formation of a plurality of tracking agents including the target's speed and the tracking agent's speed, and an additional control term for the tracking agent. The tracking algorithm can be created.

Each of the plurality of tracking agents and the communication agent performs flight according to Equation 4, which is the initial flight condition on a spherical surface, and Equation 4 is: , and the above is the location of the ith tracking agent and may be the speed of the ith tracking agent.

According to another exemplary embodiment of the present invention, a tracking agent for tracking a target on a sphere includes: a body; a network communication interface for communicating with external components, including a plurality of other tracking agents and communication agents, via a wireless communication network; a position measurement unit that determines the location and speed of the main body and provides the determined positions and speeds of the main body to the plurality of other tracking agents; a tracking algorithm calculation unit that generates a tracking algorithm for tracking a target using target information including at least two of the target location, target speed, and target angular velocity transmitted from the communication agent; and a control unit that tracks the target while maintaining formation with a plurality of other tracking agents according to the generated tracking algorithm.

The tracking algorithm calculation unit may generate a first tracking algorithm of a pattern adjacent to the target using information on the target and a plurality of tracking agent information, including the location and speed of the target.

When generating the first tracking algorithm, the tracking algorithm calculation unit calculates its own speed based on Equation 1, and Equation 1 is and the above is the location of the ith tracking agent and may be the speed of the ith tracking agent.

The tracking algorithm calculation unit determines the flight direction and speed of each tracking agent by calculating its acceleration based on Equation 2, and Equation 2 is: and the above is a term representing the centripetal force of the tracking agent, is a term that determines the formation of a plurality of tracking agents, is the term that determines the direction in which the tracking agent will track the target, is a flocking term that maintains the formation of a plurality of tracking agents, and refers to the additional control terms of the tracking agent, and is a cooperative control parameter, is the location of the jth tracking agent, is the location of the target, is the speed of the target, is the target tracking coefficient for the location of the tracking agent, is the target tracking coefficient and the speed of the tracking agent may be a rotation operator.

The tracking algorithm calculation unit reflects the angular velocity of the target in the first tracking algorithm using the information on the target and the plurality of tracking agent information, including the location of the target, the speed of the target, and the angular velocity of the target. A second tracking algorithm of a pattern that contacts the target can be created.

According to another exemplary embodiment of the present invention, a flight management method for target tracking on a spherical surface includes the steps of having a plurality of tracking agents and at least one communication agent perform a flight on a spherical surface; sharing information including one's location among the plurality of tracking agents; The plurality of tracking agents receiving target information including at least two of the target location, target speed, and target angular velocity transmitted from the communication agent; generating a tracking algorithm by the plurality of tracking agents using information on the target; and the step of the plurality of tracking agents tracking the target while maintaining formation with each other according to the tracking algorithm.

In addition, the flight management method may include, in the step of generating the tracking algorithm, the tracking agent generating the tracking algorithm including cooperative control consisting of attractive and repulsive forces, a target tracking coefficient, and a normalized flocking action element on a sphere. there is.

In addition, in the step of generating the tracking algorithm, the flight management method creates a pattern adjacent to the target using the target information and the plurality of tracking agent information including the location of the target and the speed of the target. 1 Generate a tracking algorithm, or calculate the angular velocity of the target in the first tracking algorithm using the information of the target and the plurality of tracking agent information including the location of the target, the velocity of the target, and the angular velocity of the target. A second tracking algorithm of the reflected pattern of contact with the target can be generated.

In addition, the flight management method includes, in the step of performing a flight by a plurality of tracking agents and at least one communication agent on the spherical surface, each of the plurality of tracking agents and the communication agent follows Equation 1, which is an initial flight condition on the spherical surface. Perform flight according to Equation 1, , and the above is the location of the ith tracking agent and may be the speed of the ith tracking agent.

According to embodiments of the present invention, it can be expected that multiple agents can track a target flying over a wide area of a sphere such as the Earth while maintaining a formation.

In addition, according to embodiments of the present invention, the accuracy of tracking the target can be adjusted according to the amount of information measured from the target and the performance of the tracking agent, and based on this, the mission of escorting the target or shooting it down is possible. You can perform your mission.

1 is a block diagram illustrating a flight management system for target tracking on a sphere according to an embodiment of the present invention.
FIGS. 2A and 2B are exemplary diagrams for explaining how tracking agents track a target according to an embodiment of the present invention.
Figure 3 is a block diagram illustrating a tracking agent according to an embodiment of the present invention.
Figure 4 is a flow chart illustrating a flight management method for target tracking on a sphere according to an embodiment of the present invention.
Figure 5 is a block diagram for illustrating and illustrating a computing environment including a computing device according to an embodiment of the present invention.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. The detailed description below is provided to provide a comprehensive understanding of the methods, devices and/or systems described herein. However, this is only an example and the present invention is not limited thereto.

In describing the embodiments of the present invention, if it is determined that a detailed description of the known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, the definition should be made based on the contents throughout this specification. The terminology used in the detailed description is only for describing embodiments of the present invention and should in no way be limiting. Unless explicitly stated otherwise, singular forms include plural meanings. In this description, expressions such as “comprising” or “including” are intended to indicate certain features, numbers, steps, operations, elements, parts or combinations thereof, and one or more than those described. It should not be construed to exclude the existence or possibility of any other characteristic, number, step, operation, element, or part or combination thereof.

In the embodiments of the present invention described later, we propose an algorithm in which a plurality of tracking agents form a formation to track a specific object (target) freely flying on a spherical surface such as the Earth. The time-dependent position, speed, and angular velocity of the target can be obtained through observation. At this time, errors related to noise and time delay that occur are relatively small in scale compared to the physical quantities of objects related to the algorithm and therefore have a minimal impact, so they may not be considered.

The tracking agent, communication agent, and target described below can be assumed to fly on a perfect sphere. Additionally, it can be assumed that the target flies independently according to a preset algorithm.

The target, tracking agent, and communication agent described later are configurations that can fly in the sky, and may be, for example, unmanned aerial vehicles, cruise missiles, and drones, but are not limited to these, and are capable of flying in the sky, and the following tracking algorithm is applied. Any possible configuration is possible.

Figure 1 is a block diagram for explaining a flight management system for target tracking on a sphere according to an embodiment of the present invention, and Figures 2a and 2b are a method for tracking agents to track a target according to an embodiment of the present invention. This is an example to explain.

The spherical surface (e.g., the Earth's surface) disclosed in these embodiments can be simplified and expressed as a unit sphere, and all positions, speeds, and accelerations in the algorithm can be expressed as heat vectors. That is, the sphere disclosed in these embodiments may be, for example, the Earth, which may be regarded as a unit sphere.

hour The location of the target 200 in , the speed is , the acceleration is It can be. Here, the control algorithm of the target 200 can be expressed as the following simultaneous ordinary differential equations. The target 200 can fly independently according to a control algorithm described later.

(Equation 1)

(Equation 2)

Equation 1 described above represents Newton's law of motion for the speed of the target 200.

In Equation 2 above, The term may be a term representing a centripetal force that allows the target 200 to be located only on a spherical surface. remind is a term representing the control term or surface acceleration of the target 200 and is positioned to maintain the position of the target 200 on the spherical surface. and acceleration It can be expressed as Equation 3, which consists of:

(Equation 3)

Referring to FIG. 1, a flight management system for target tracking on a sphere (hereinafter referred to as 'flight management system') includes a tracking agent 100 and a communication agent 300.

The communication agent 300 is placed at a preset position on the sphere and is connected to communication with a plurality of tracking agents to obtain target information including at least two of the target location, target speed, and target angular velocity to obtain a plurality of target information. It can be transmitted to the tracking agent 100. As shown in FIG. 1, there may be at least one communication agent 300. The communication agent 300 can be evenly placed within the activity area to efficiently deliver target information to the tracking agent 100. Although not shown, the communication agent 300 may be implemented in the form of a ground observation station that obtains information on the target 200 according to the operator's needs and transmits it to the tracking agents 100 through wireless communication.

The position of the target, the speed of the target, and the angular velocity of the target may each be absolute values. That is, each may mean the absolute position of the target, the absolute speed of the target, and the absolute angular velocity of the target.

The tracking agent 100 shares information by communicating with each other or with the at least one communication agent 300 while flying on a spherical surface, and tracks it using information on the target 200 transmitted from the communication agent 300. An algorithm can be created, and the target 200 can be tracked while maintaining formation with each other according to the generated tracking algorithm. At this time, as shown in FIG. 1, there may be a plurality of tracking agents 100.

Tracking agent 100 may generate a tracking algorithm including cooperative control consisting of attractive and repulsive forces, target tracking coefficients, and normalized flocking forces on a sphere.

As an example, the tracking agent 100 may generate a first tracking algorithm of a pattern adjacent to the target 200 using target information including the target location and target speed and a plurality of tracking agent information. That is, the first tracking algorithm may include a complete convergence pattern in which the tracking agent 100 contacts the target 200.

When generating the first tracking algorithm, the tracking agent 100 calculates its own speed based on Equation 4,

(Equation 4)

remind is the location of the ith tracking agent and may be the speed of the ith tracking agent. Equation 4 may represent the speed of the tracking agent 100 using Newton's laws of motion.

The tracking agent 100 can determine the flight direction and speed of each tracking agent by calculating its own acceleration based on Equation 5.

(Equation 5)

remind is a term representing the centripetal force of the tracking agent 100, which may allow the tracking agent 100 to be located on a spherical surface.

Also, the above is a term that determines the formation of the plurality of tracking agents 100, and may be a term that determines what formation the plurality of tracking agents 100 will form.

remind is a cooperative control parameter, may be the location of the jth tracking agent.

The above-mentioned cooperative control parameters ( ) is the attraction coefficient between different tracking agents ( ), the repulsion coefficient between different tracking agents ( ) and the locations of each of the different tracking agents ( , ) may include. If this is expressed mathematically, it may be the same as equations 6 and 7.

(Equation 6)

)

(Equation 7)

At this time, given and As the coefficient of attraction increases, the pulling force increases, and as the repulsive force coefficient increases, the pushing force increases.

mentioned above is a term that determines the direction in which the tracking agent 100 tracks the target 200, and may be composed of the location of the target received from the communication agent 300, the speed of the target, and the locations of other tracking agents 100. there is.

remind is the target tracking coefficient for the location of the tracking agent, may mean the location of the target.

mentioned above May be a flocking term that maintains the formation of a plurality of tracking agents 100. Due to this flocking term, the formation of the plurality of tracking agents 100 can be maintained and stabilized.

remind is the target tracking coefficient for the tracking agent's speed, may mean the speed of the target. detailed by the operator and If the in-target tracking coefficient value is set arbitrarily large, the position and speed difference between the tracking agents 100 and the target 200 can be kept as small as required.

mentioned above may be a rotation operator. It is a mathematical device that measures the relative speed of two objects and can be defined as Equations 8 and 9.

(Equation 8)

(Equation 9)

Here, the above Is is the identity matrix, and is a vector It may be a transpose vector of . In the case of a spherical surface, mathematical errors occur when calculating with translation, which is mainly used in three-dimensional space, so a new rotation operator is needed. Using the above-described rotation calculation, it is possible to measure the relative speed between two different tracking agents (100) by moving the velocity vector of the other tracking agent (100) in parallel to its own position.

Rotation operators in commonly used Rodrigues form It is composed of complex equations, so it is difficult to analyze, and there may be singularities due to the geometric characteristics of the operation. As in this example, the normalized rotation operator If you use the rotation operator, which is mainly used when performing rotation conversion on a sphere, While sharing the natural and good properties of , we can expect the effect of solving previous problems because there are no unique features.

mentioned above may mean an additional control term of the tracking agent.

When the tracking agent 100 applies only the target location and target speed as target information, the tracking agent's additional control term ( ) can be set to 0.

As another example, the tracking agent 100 uses target information including the target location, target speed, and target angular velocity and a plurality of tracking agent information to reflect the target angular velocity in the first tracking algorithm to the target 200. A second tracking algorithm of the contact pattern can be created. That is, the second tracking algorithm may be generated by additionally including the angular velocity of the target as target information.

When generating the second tracking algorithm, the tracking agent 100 determines the flight direction and speed of each tracking agent by calculating its acceleration based on Equation 5 described above, and additional control terms of the tracking agent 100 ( ) can be set to Equation 10.

(Equation 10)

remind silver time means the angular velocity of the target in It can be.

That is, in these embodiments, in Equation 5 is an additional control term of the tracking agent 100 and can be 0 or Equation 10 depending on whether or not the angular velocity of the target is measured. At this time, When is 0, the tracking agents 100 fly according to the tracking algorithm of the actual convergence pattern with respect to the target 200, If is Equation 10, the tracking agents 100 can fly to the target 200 according to a tracking algorithm with a complete convergence pattern.

Tracking agent 100 includes a target tracking coefficient for the tracking agent's speed, a rotation operator, a flocking term that maintains the formation of a plurality of tracking agents, including the target's speed and the tracking agent's speed, and an additional control term for the tracking agent. This allows you to create a tracking algorithm. This is specifically Equation 5: It can be.

Each of the plurality of tracking agents 100 and communication agents 300 may perform flight according to Equation 11, which is the initial flight condition, on a spherical surface.

(Equation 11)

,

remind is the location of the ith tracking agent and may be the speed of the ith tracking agent.

The tracking algorithm disclosed in these embodiments allows the tracking agents 100 to efficiently track the target 200 on a spherical surface rather than a flat surface or an entire three-dimensional space. Using this tracking algorithm, the flocking term is well defined on the spherical surface, and the tracking agents 100 can track the target 200 and maintain a stable lineup due to the interaction of various control terms.

, and In this case, the difference between the positions of all tracking agents 100 and the target 200 can maintain a substantial convergence pattern with a relatively small difference. The difference in location here is and is determined by the size of

also, , , In this case, the positions and velocities of all tracking agents 100 can maintain a complete convergence pattern that matches the position and velocities of the target 200 within a relatively short time.

As shown in FIG. 2A, the tracking agents 100 can track the target 200 while maintaining a preset formation. As shown in FIG. 2B, the tracking agents 100 may approach the target 200, either by flying in a substantially converging pattern adjacent to the target 200 or by contacting (or contacting) the target 200 according to the tracking algorithm. It is possible to fly a fully convergent pattern of shooting down.

Figure 3 is a block diagram for explaining a tracking agent according to an embodiment of the present invention.

Referring to FIG. 3, the tracking agent 100 may include a network communication interface 110, a location measurement unit 130, a tracking algorithm calculation unit 150, a memory 170, and a control unit 190.

The tracking algorithm calculation unit 150 disclosed below is a component that performs the same role as the component that calculates the tracking algorithm in the tracking agent 100 disclosed in FIGS. 1 and 2, and detailed description is omitted for convenience of explanation. I decided to do it.

The tracking agent 100 includes a main body, a network communication interface 110, a location measurement unit 130, a tracking algorithm calculation unit 150, a memory 170, and a control unit 190.

The network communication interface 110 may be configured to communicate with external components, including a plurality of other tracking agents 100 and communication agents 300, through a wireless communication network.

The position measurement unit 130 can determine the position and speed of the main body and provide the determined positions and speeds of the main body to a plurality of other tracking agents 100.

The tracking algorithm calculation unit 150 generates a tracking algorithm for tracking the target using target information including at least two of the target location, target speed, and target angular velocity transmitted from the communication agent 200. You can.

The tracking algorithm calculation unit 150 generates a first tracking algorithm of a pattern (substantial convergence pattern) adjacent to the target 200 using target information including the target location and target speed and a plurality of tracking agent information. can do.

When generating the first tracking algorithm, the tracking algorithm calculation unit 150 may calculate its own speed based on Equation 1 described above.

The tracking algorithm calculation unit 150 may determine the flight direction and speed of each tracking agent 100 by calculating its own acceleration based on Equation 5 described above.

The tracking algorithm calculation unit 150 contacts the target 200 that reflects the angular velocity of the target in the first tracking algorithm using target information including the target location, target speed, and target angular velocity and a plurality of tracking agent information. A second tracking algorithm of a pattern can be created.

The memory 170 may contain all kinds of information related to the tracking agent 100, including the tracking algorithm.

The control unit 190 can track the target 200 while maintaining formation with a plurality of other tracking agents according to the generated tracking algorithm.

Figure 4 is a flowchart illustrating a flight management method for target tracking on a sphere according to an embodiment of the present invention. The method shown in Figure 4 may be performed, for example, by the flight management system 400 or the tracking agent 100 described above. In the illustrated flow chart, the method is divided into a plurality of steps, but at least some of the steps are performed in a different order, combined with other steps, omitted, divided into detailed steps, or not shown. One or more steps may be added and performed.

In step 501, a plurality of tracking agents 100 and at least one communication agent 300 may perform flight on a spherical surface.

At this time, each of the plurality of tracking agents 100 and communication agents 300 may perform flight according to the above-described equation 11, which is the initial flight condition, on a spherical surface.

In step 503, information including one's location can be shared between the plurality of tracking agents 100.

In step 505, the plurality of tracking agents 100 may receive target information including at least two of the target location, target speed, and target angular velocity transmitted from the communication agent 300.

In step 507, a plurality of tracking agents 100 may create a tracking algorithm using target information.

The plurality of tracking agents 100 may generate a tracking algorithm in which the tracking agents include cooperative control consisting of attractive and repulsive forces, target tracking coefficients, and normalized flocking forces on a sphere.

As an example, the tracking agent 100 may generate a first tracking algorithm of a pattern adjacent to the target 200 using target information including the target location and target speed and a plurality of tracking agent information.

As another example, the tracking agent 100 uses target information including the target location, target speed, and target angular velocity and a plurality of tracking agent information to reflect the target angular velocity in the first tracking algorithm to the target 200. A second tracking algorithm of the contact pattern can be created.

In step 509, a plurality of tracking agents 100 may track the target while maintaining formation with each other according to a tracking algorithm.

In step 511, the plurality of tracking agents 100 fly according to the first and second tracking algorithms including a pattern of approaching or contacting the target 200, and end the flight when successful in tracking the target 200 ( or return).

Meanwhile, if the plurality of tracking agents 100 fail to track the target 200, the process of sharing information between the plurality of tracking agents 100 in step 503 is re-performed to create a new tracking algorithm and perform a tracking flight. can do.

FIG. 5 is a block diagram illustrating and illustrating a computing environment 10 including computing devices suitable for use in example embodiments. In the illustrated embodiment, each component may have different functions and capabilities in addition to those described below, and may include additional components in addition to those described below.

The illustrated computing environment 10 includes a computing device 12 . In one embodiment, computing device 12 may be tracking agent 100, communication agent 300, or flight management system 400.

Computing device 12 includes at least one processor 14, a computer-readable storage medium 16, and a communication bus 18. Processor 14 may cause computing device 12 to operate in accordance with the example embodiments noted above. For example, processor 14 may execute one or more programs stored on computer-readable storage medium 16. The one or more programs may include one or more computer-executable instructions, which, when executed by the processor 14, cause computing device 12 to perform operations according to example embodiments. It can be.

Computer-readable storage medium 16 is configured to store computer-executable instructions or program code, program data, and/or other suitable form of information. The program 20 stored in the computer-readable storage medium 16 includes a set of instructions executable by the processor 14. In one embodiment, computer-readable storage medium 16 includes memory (volatile memory, such as random access memory, non-volatile memory, or an appropriate combination thereof), one or more magnetic disk storage devices, optical disk storage devices, flash It may be memory devices, another form of storage medium that can be accessed by computing device 12 and store desired information, or a suitable combination thereof.

Communication bus 18 interconnects various other components of computing device 12, including processor 14 and computer-readable storage medium 16.

Computing device 12 may also include one or more input/output interfaces 22 and one or more network communication interfaces 26 that provide an interface for one or more input/output devices 24. The input/output interface 22 and the network communication interface 26 are connected to the communication bus 18. Input/output device 24 may be coupled to other components of computing device 12 through input/output interface 22. Exemplary input/output devices 24 include, but are not limited to, a pointing device (such as a mouse or trackpad), a keyboard, a touch input device (such as a touchpad or touch screen), a voice or sound input device, various types of sensor devices, and/or imaging devices. It may include input devices and/or output devices such as display devices, printers, speakers, and/or network cards. The exemplary input/output device 24 may be included within the computing device 12 as a component constituting the computing device 12, or may be connected to the computing device 12 as a separate device distinct from the computing device 12. It may be possible.

If the target tracking algorithm on a 2D plane or 3D space is applied to tracking agents flying in a wide activity area on a sphere such as the Earth, the tracking agents will be able to track smoothly due to the geometric difference between the sphere and the local 3D space. Accomplishing the mission may be difficult. As described above, the present embodiments present a target tracking algorithm for tracking agents whose activity area is the entire sphere. Because of this, multiple tracking agents can track the target while maintaining a constant speed on a spherical surface and maintaining formation flight according to the tracking algorithm.

Although representative embodiments of the present invention have been described in detail above, those skilled in the art will understand that various modifications can be made to the above-described embodiments without departing from the scope of the present invention. . Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined not only by the claims described below but also by equivalents to these claims.

10: Computing environment
12: Computing device
14: processor
16: Computer-readable storage medium
18: communication bus
20: Program
22: input/output interface
24: input/output device
26, 110: network communication interface
100: Tracking Agent
130: Position measurement unit
150: Tracking algorithm calculation unit
170: memory
190: Control unit
200: target
300: communication agent
400: Flight management system

Claims (20)

It is placed at a preset position on the sphere and is connected to communication with a plurality of tracking agents to obtain target information including at least two of the target location, target speed, and target angular velocity and transmit it to the plurality of tracking agents. at least one communication agent; and
While flying on a sphere, information is shared by communicating with each other or with the at least one communication agent, and a tracking algorithm is generated using the target information transmitted from the communication agent, and each other according to the generated tracking algorithm. comprising a plurality of tracking agents that track the target while maintaining a formation,
The tracking agent is,
A flight management system for target tracking on a sphere that generates a first tracking algorithm of a pattern adjacent to the target using information on the target and the plurality of tracking agent information, including the location of the target and the speed of the target.
It is placed at a preset position on the sphere and is connected to communication with a plurality of tracking agents to obtain target information including at least two of the target location, target speed, and target angular velocity and transmit it to the plurality of tracking agents. at least one communication agent; and
While flying on a sphere, information is shared by communicating with each other or with the at least one communication agent, and a tracking algorithm is generated using the target information transmitted from the communication agent, and each other according to the generated tracking algorithm. comprising a plurality of tracking agents that track the target while maintaining a formation,
The tracking agent is,
A flight management system for target tracking on a sphere that generates the tracking algorithm including cooperative control consisting of attractive and repulsive forces, target tracking coefficients and normalized flocking forces on the sphere.
delete In claim 1,
When generating the first tracking algorithm, the tracking agent calculates its own speed based on Equation 1,
Equation 1 above is and
remind is the location of the ith tracking agent and Flight management system for target tracking on a sphere where is the speed of the ith tracking agent.
In claim 4,
The tracking agent determines the flight direction and speed of each tracking agent by calculating its acceleration based on Equation 2,
Equation 2 above is:
and
remind is a term representing the centripetal force of the tracking agent, is a term that determines the formation of a plurality of tracking agents, is the term that determines the direction in which the tracking agent will track the target, is a flocking term that maintains the formation of a plurality of tracking agents, and refers to the additional control term of the tracking agent,
remind is a cooperative control parameter, is the location of the jth tracking agent, is the location of the target, is the speed of the target, is the target tracking coefficient for the location of the tracking agent, is the target tracking coefficient and the speed of the tracking agent is a flight management system for target tracking on a sphere, which is a rotation operator.
In claim 5,
The cooperative control parameters include a coefficient of attraction between different tracking agents, a coefficient of repulsion between different tracking agents, and a flight management system for target tracking on a sphere including the positions of each of the different tracking agents.
In claim 5,
The tracking agent is,
Additional control terms of the tracking agent ( Flight management system for target tracking on a sphere setting ) to 0.
In claim 5,
The tracking agent is,
A pattern of contacting the target in which the angular velocity of the target is reflected in the first tracking algorithm using the target information and the plurality of tracking agent information including the location of the target, the speed of the target, and the angular velocity of the target. Flight management system for target tracking on a sphere generating a second tracking algorithm.
In claim 8,
The tracking agent is,
When generating the second tracking algorithm, the flight direction and speed of each tracking agent are determined by calculating its acceleration based on Equation 2, and the additional control term of the tracking agent ( ) is set to Equation 3,
Equation 3 above is: and
remind silver time means the angular velocity of the target in Flight management system for target tracking on spherical surfaces.
It is placed at a preset position on the sphere and is connected to communication with a plurality of tracking agents to obtain target information including at least two of the target location, target speed, and target angular velocity and transmit it to the plurality of tracking agents. at least one communication agent; and
While flying on a sphere, information is shared by communicating with each other or with the at least one communication agent, and a tracking algorithm is generated using the target information transmitted from the communication agent, and each other according to the generated tracking algorithm. comprising a plurality of tracking agents that track the target while maintaining a formation,
The tracking agent is,
Generate the tracking algorithm including a target tracking coefficient for the speed of the tracking agent, a rotation operator, a flocking term that maintains the formation of a plurality of tracking agents, including the speed of the target and the speed of the tracking agent, and an additional control term of the tracking agent. A flight management system for target tracking on a spherical surface.
In claim 1,
Each of the plurality of tracking agents and the communication agent performs a flight according to Equation 4, which is an initial flight condition on a spherical surface,
Equation 4 above is: , and
remind is the location of the ith tracking agent and Flight management system for target tracking on a sphere where is the speed of the ith tracking agent.
main body;
a network communication interface for communicating with external components, including a plurality of other tracking agents and communication agents, via a wireless communication network;
a position measurement unit that determines the location and speed of the main body and provides the determined positions and speeds of the main body to the plurality of other tracking agents;
a tracking algorithm calculation unit that generates a tracking algorithm for tracking a target using target information including at least two of the target location, target speed, and target angular velocity transmitted from the communication agent; and
A control unit that tracks the target while maintaining formation with a plurality of other tracking agents according to the generated tracking algorithm,
The tracking algorithm calculation unit,
A tracking agent for tracking a target on a sphere that generates a first tracking algorithm of a pattern adjacent to the target using information on the target and a plurality of tracking agent information, including the location of the target and the speed of the target.
delete In claim 12,
When generating the first tracking algorithm, the tracking algorithm calculation unit calculates its own speed based on Equation 1,
Equation 1 above is and
remind is the location of the ith tracking agent and is the speed of the ith tracking agent, a tracking agent for target tracking on a sphere.
In claim 14,
The tracking algorithm calculation unit determines the flight direction and speed of each tracking agent by calculating its acceleration based on Equation 2,
Equation 2 above is:
and
remind is a term representing the centripetal force of the tracking agent, is a term that determines the formation of a plurality of tracking agents, is the term that determines the direction in which the tracking agent will track the target, is a flocking term that maintains the formation of a plurality of tracking agents, and refers to the additional control term of the tracking agent,
remind is a cooperative control parameter, is the location of the jth tracking agent, is the location of the target, is the speed of the target, is the target tracking coefficient for the location of the tracking agent, is the target tracking coefficient and the speed of the tracking agent is a rotation operator, a tracking agent for target tracking on a sphere.
In claim 15,
The tracking algorithm calculation unit,
A pattern of contacting the target in which the angular velocity of the target is reflected in the first tracking algorithm using the target information and the plurality of tracking agent information including the target's position, the target's speed, and the angular velocity of the target. A tracking agent for target tracking on a sphere generating a second tracking algorithm.
A plurality of tracking agents and at least one communication agent performing flight on a sphere;
sharing information including one's location among the plurality of tracking agents;
The plurality of tracking agents receiving target information including at least two of the target location, target speed, and target angular velocity transmitted from the communication agent;
generating a tracking algorithm by the plurality of tracking agents using information on the target; and
Comprising the step of the plurality of tracking agents tracking the target while maintaining formation with each other according to the tracking algorithm,
In the step of generating the tracking algorithm,
A flight management method for target tracking on a sphere, wherein the tracking agent generates the tracking algorithm including cooperative control consisting of attractive and repulsive forces, target tracking coefficients, and normalized flocking forces on the sphere.
delete A plurality of tracking agents and at least one communication agent performing flight on a sphere;
sharing information including one's location among the plurality of tracking agents;
The plurality of tracking agents receiving target information including at least two of the target location, target speed, and target angular velocity transmitted from the communication agent;
generating a tracking algorithm by the plurality of tracking agents using information on the target; and
Comprising the step of the plurality of tracking agents tracking the target while maintaining formation with each other according to the tracking algorithm,
In the step of generating the tracking algorithm,
Generate a first tracking algorithm of a pattern adjacent to the target using the target information and the plurality of tracking agent information, including the location of the target and the speed of the target, or
A pattern of contacting the target in which the angular velocity of the target is reflected in the first tracking algorithm using the target information and the plurality of tracking agent information including the location of the target, the speed of the target, and the angular velocity of the target. Flight management method for target tracking on a sphere creating a second tracking algorithm.
In claim 17,
In the step of a plurality of tracking agents and at least one communication agent performing flight on the spherical surface,
Each of the plurality of tracking agents and the communication agent performs a flight on the spherical surface according to Equation 1, which is an initial flight condition,
Equation 1 above is: , and
remind is the location of the ith tracking agent and Flight management method for target tracking on a sphere where is the speed of the ith tracking agent.