多无人机协同拦截静止目标，无传感器机也靠邻居通信定位。
Cooperative Integrated Estimation-Guidance for Simultaneous Interception of Moving Targets
- 无感无人机通过邻居通信，用预设时间观测器估计目标状态。
- 所有无人机在设定时间内完成状态同步与时间到目标收敛。
- 适合异构无人系统在复杂通信下的协同拦截任务。
本文提出一种用于多架无人自主飞行器协同拦截非机动目标的协作式一体化估测-制导框架，假设仅部分飞行器配备专用传感器测量目标状态。不同于以往仅关注估测或制导的设计，该框架在协作架构下统一二者。为克服目标可观测性异质性问题，无传感器飞行器通过有向通信拓扑与邻近代理交换信息，利用预设时间观测器估计目标状态。所提方法采用精确时间到目标公式的真实比例导航制导（TPNG），适用于广泛的目标运动场景。此外，预设时间观测器与控制器分别确保状态收敛至真实值和时间到目标达成一致性。仿真验证了该框架在多种交战场景下的有效性。
原文摘要 · Abstract (English)
This paper proposes a cooperative integrated estimation-guidance framework for simultaneous interception of a non-maneuvering target using a team of unmanned autonomous vehicles, assuming only a subset of vehicles are equipped with dedicated sensors to measure the target's states. Unlike earlier approaches that focus solely on either estimation or guidance design, the proposed framework unifies both within a cooperative architecture. To circumvent the limitation posed by heterogeneity in target observability, sensorless vehicles estimate the target's state by leveraging information exchanged with neighboring agents over a directed communication topology through a prescribed-time observer. The proposed approach employs true proportional navigation guidance (TPNG), which uses an exact time-to-go formulation and is applicable across a wide spectrum of target motions. Furthermore, prescribed-time observer and controller are employed to achieve convergence to true target's state and consensus in time-to-go within set predefined times, respectively. Simulations demonstrate the effectiveness of the proposed framework under various engagement scenarios.
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