Consensus Analysis of UAV Swarm Cooperative Situation Awareness
Haifeng Zhu, Jinliang Li, Yang Jun Gao, Guobing Cheng · 2020
UAV swarm cooperative situation awareness (SA) and situation sharing is the basis of swarm cooperative decision and control. Swarm cooperative SA consensus is an important factor affecting swarm consistent decision-making. The related studies of consensus analysis do not consider the levels of SA and the uncertainty of situation information carefully, which is not very suitable for complex and antagonistic mission environments. Combined with the Endsley’s SA three-level model, this paper further proposes UAV swarm cooperative SA consensus three-level model, i.e. situation perception consensus, situation comprehension consensus and situation prediction consensus. The definitions and relationships of the SA consensus three-level model are carefully clarified and analysed. Then, the calculation methods of situation perception consensus and situation prediction consensus are described. The reaching process of situation comprehension consensus with a new feedback mechanism is proposed. A case study demonstrates the reaching process of situation comprehension consensus with the proposed feedback mechanism is efficient.