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In tactical reconnaissance, hazardous area operations, and other coordinated search target missions, cross-domain unmanned swarms can quickly obtain situational awareness, but there are significant differences in perception perspectives, noise levels, etc. in cross-domain information. Furthermore, the communication link is prone to interference in dynamic environments, and the original target positioning error of a single platform sensor is large, which makes the task of consistent expression, abstraction, and fusion of target perception information face great challenges. This paper proposes a multi-unmanned ground vehicle and multi-unmanned aerial vehicle air-ground coordinated situational awareness fusion algorithm, builds an adaptive fusion architecture, and adopts multi-target data association and matching, interactive multi-model dynamic tracking, etc. fusion algorithms to achieve air-ground coordinated search target situational awareness. The feasibility of the air-ground coordinated situational awareness fusion algorithm is verified through simulation experiments, which can provide a simplified, effective, and complete consistent situational awareness for command and decision-making and coordinated operations.

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An Air-Ground Cooperative Situation Fusion Algorithm Based on Multi-unmanned Ground Vehicle and Multi-unmanned Aerial Vehicle

  • 会议论文

  • 发表日期：

    2025年

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  • Xuejiao Xia,
  • Nan Xiang,
  • Dan Zou,
  • Di Wang,
  • Ziye Zhao

摘要

In tactical reconnaissance, hazardous area operations, and other coordinated search target missions, cross-domain unmanned swarms can quickly obtain situational awareness, but there are significant differences in perception perspectives, noise levels, etc. in cross-domain information. Furthermore, the communication link is prone to interference in dynamic environments, and the original target positioning error of a single platform sensor is large, which makes the task of consistent expression, abstraction, and fusion of target perception information face great challenges. This paper proposes a multi-unmanned ground vehicle and multi-unmanned aerial vehicle air-ground coordinated situational awareness fusion algorithm, builds an adaptive fusion architecture, and adopts multi-target data association and matching, interactive multi-model dynamic tracking, etc. fusion algorithms to achieve air-ground coordinated search target situational awareness. The feasibility of the air-ground coordinated situational awareness fusion algorithm is verified through simulation experiments, which can provide a simplified, effective, and complete consistent situational awareness for command and decision-making and coordinated operations.