中文摘要：

针对主被动传感器协同目标跟踪需要,考虑到可扩展性、异构性和动态可重构性等特点,建立了适于不同测量类型和不同测量维数的异构多传感器分散化信息融合算法.以极大化信息融合所得到的信息熵及无人机（UAV,Unmanned Aerial Vehicles）观测信息质量为效能函数,建立了异构多UAV协同目标跟踪的分散化最优控制代价函数以及通信、防撞和控制等约束模型.实现了多UAV协同目标跟踪的分散化模型预测控制,并分析了通讯噪声等因素对分散化信息融合和协同控制的影响.

英文摘要：

The decentralized information fusion algorithms for multiple heterogeneous sensors platforms with different types and dimensions was developed to meet the needs of the target tracking with active and passive sensors.The decentralized information fusion algorithm was scalable,heterogeneous and reconfigurable.The performance cost function and constraints model of communication,collision avoiding and control for decentralized optimal control of multiple heterogeneous unmanned aerial vehicles（UAV） in cooperative target tracking were established to maximize the local information entropy obtained by information fusion and the quality of information observed by each UAV.The cooperative target tracking based on multiple heterogeneous UAV was implemented using decentralized model predictive control.The effects of imperfect communication on decentralized information fusion and cooperative control were investigated.