An Observation Equalization Optimization for Heterogeneous Sensors Multi-Target Assignment

A multi-UAV and multi-target assignment method based on observation equalization optimization is proposed for fixed-wing UAV standoff tracking with heterogeneous sensors. The mechanical circle scanning sensor is changed to observe only partial targets by sector scanning to improve the observation performance. A novel performance function is proposed to balance observation with current and prior FIM for each target. Then, the configuration and observability of heterogeneous sensors are considered to divide groups of UAVs and targets. Finally, the multi-target assignment with heterogeneous sensors is solved by linear programming and replanning online in time. The simulation results present some intuitive cooperative track patterns and verify the effectiveness of the proposed sector scanning mode and online replanning method, which can reduce the deviation of the observation performance for targets by 7.6% and 15.4%, respectively.