留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

无人机定向天线自跟踪系统研究

查长流 丁希仑 俞玉树 王学强

查长流, 丁希仑, 俞玉树, 等 . 无人机定向天线自跟踪系统研究[J]. 北京航空航天大学学报, 2016, 42(4): 737-744. doi: 10.13700/j.bh.1001-5965.2015.0268
引用本文: 查长流, 丁希仑, 俞玉树, 等 . 无人机定向天线自跟踪系统研究[J]. 北京航空航天大学学报, 2016, 42(4): 737-744. doi: 10.13700/j.bh.1001-5965.2015.0268
ZHA Changliu, DING Xilun, YU Yushu, et al. Research on automatic tracking system for directional antenna of UAV[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(4): 737-744. doi: 10.13700/j.bh.1001-5965.2015.0268(in Chinese)
Citation: ZHA Changliu, DING Xilun, YU Yushu, et al. Research on automatic tracking system for directional antenna of UAV[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(4): 737-744. doi: 10.13700/j.bh.1001-5965.2015.0268(in Chinese)

无人机定向天线自跟踪系统研究

doi: 10.13700/j.bh.1001-5965.2015.0268
基金项目: 国家自然科学基金(50975008);国家杰出青年科学基金(51125020)
详细信息
    作者简介:

    查长流 男,博士研究生。主要研究方向:空中机器人技术。 Tel.: 010-82339055 E-mail: zhachangliu@buaa.edu.cn;丁希仑 男,博士,教授,博士生导师。主要研究方向:机构学与机器人。 Tel.: 010-82338005 E-mail: xlding@buaa.edu.cn

    通讯作者:

    丁希仑, Tel.: 010-82338005 E-mail: xlding@buaa.edu.cn

  • 中图分类号: V249.1

Research on automatic tracking system for directional antenna of UAV

Funds: National Natural Science Foundation of China (50975008);National Science Fund for Distinguished Young Scholars of China (51125020)
  • 摘要: 为了满足无人机(UAV)远距离通信的需要,设计研制了以无人机位置信息为引导的地面定向天线自跟踪系统。基于实时获取定向天线载车位置、速度、方位和俯仰角等信息,实现了定向天线在运动中对目标进行自动跟踪的能力,提高了系统的机动性和隐蔽性。针对目前利用2点位置来计算目标角的方法存在需要通过相对位置才能确定实际目标角的不足,提出了一种不需要考虑2点相对位置就能直接计算出目标角的计算方法,为工程应用带来了方便。针对定向天线地面载车在机动时GPS信号容易受干扰,从而造成跟踪目标丢失,以及因无人机位置信息更新频率较低而造成的跟踪系统运动抖动、跟踪误差较大等问题,提出了一种基于速度对位置进行预测平滑的控制策略,有效解决了以上问题,并显著提高了跟踪精度。设计研制了定向天线自跟踪系统的软硬件,并进行了测试,结果表明:研制的定向天线具有机动跟踪能力和较高的跟踪精度,能满足无人机对定向天线自跟踪的需要。

     

  • [1] DING X L, YU Y S.Motion planning and stabilization control of a multipropeller multifunction aerial robot[J].IEEE/ASME Transactions on Mechatronics,2013,18(2):645-656.
    [2] DEHGHAN S M M, MORADI H.A new approach for simultaneous localization of UAV and RF sources (SLUS)[C]//2014 International Conference on Unmanned Aircraft Systems (ICUAS).Piscataway,NJ:IEEE Press,2014:744-749.
    [3] PENG C,BAI Y, GONG X,et al.Modeling and robust backstepping sliding mode control with adaptive RBFNN for a novel coaxial eight-rotor UAV[J].IEEE/CAA Journal of Automatica Sinica,2015,2(1):56-64.
    [4] ALSHBATAT A I, LIANG D.Adaptive MAC protocol for UAV communication networks using directional antennas[C]//2010 International Conference on Networking,Sensing and Control (ICNSC).Piscataway,NJ:IEEE Press,2010:598-603.
    [5] 樊琼剑,高翔, 丁吉,等.一种无人机定向天线稳定跟踪系统[J].四川兵工学报,2013,34(4):84-85. FAN Q J,GAO X,DING J,et al.Research of stable tracking system for the directional antenna of UAV[J].Journal of Sichuan Ordnance,2013,34(4):84-85(in Chinese).
    [6] 王兴国,周丽杰. 新型微波天线快速对准仪的研制[J].机械设计与制造,2013(7):156-158. WANG X G,ZHOU L J.Development of a new type of microwave antenna rapid alignment instrument[J].Machinery Design & Manufacture,2013(7):156-158(in Chinese).
    [7] 杜利明,柴海莉. 基于GPS信息的天线自跟踪设计[J].微计算机信息,2008,24(25):243-244. DU L M,CHAI H L.The design of antenna track on GPS[J].Microcomputer Information,2008,24(25):243-244(in Chinese).
    [8] 杨明堃,高国平, 张廷龙,等.一种探空仪自动跟踪系统的设计[J].通信技术,2012,45(7):1-3. YANG M K,GAO G P,ZHANG T L,et al.Design of automatic tracking system for sonde application[J].Communications Technology,2012,45(7):1-3(in Chinese).
    [9] 冯磊,刘强,韩小军. 动中通步进跟踪系统的设计与仿真[J].无线电工程,2014,44(3):73-76. FENG L,LIU Q,HAN X J.Design and simulation of step tracking system for satcom-on-the-move[J].Radio Engineering,2014,44(3):73-76(in Chinese).
    [10] 张尊泉,李晓柏. 动态点对点通信天线的自动控制研究[J].现代防御技术,2013,41(4):94-99. ZHANG Z Q,LI X B.Research on antenna automatic control of dynamic point-to-point communication[J].Modern Defense Technology,2013,41(4):94-99(in Chinese).
    [11] OGUNDELE D A, ADEDIRAN Y A,AIYEOLA S Y,et al.Model validation and analysis of antenna look angles of geostationary satellite[C]//2012 IEEE International Conference on Computer Science and Automation Engineering (CSAE).Piscataway,NJ:IEEE Press,2012:509-513.
    [12] TITTERTON D H, WESTON J L.Strapdown inertial navigation technology[M].2nd ed.London:Institution of Electrical Engineers,2004:48-50.
    [13] 赵琦,张晓林. 基于Windows平台的无人机导航地面测试软件的设计[J].北京航空航天大学学报,2003,29(1):17-19. ZHAO Q,ZHANG X L.Design of test software in base station for navigation under windows environment[J].Journal of Beijing University of Aeronautics and Astronautics,2003,29(1):17-19(in Chinese).
    [14] 王小斌,闫建国, 凌琼.基于GPS仿真器的无人机导航系统半物理仿真研究[J].计算机测量与控制,2008,16(3):401-403. WANG X B,YAN J G,LING Q.Research on UAV navigation system hardware-in-the-loop simulation based on GPS emulator[J].Computer Measurement & Control,2008,16(3):401-403(in Chinese).
    [15] ANG K H, CHONG G,LI Y.PID control system analysis, design, and technology[J].IEEE Transations on Control Systems Technology,2005,13(4):559-576.
    [16] GOHIYA C S, SADISTAP S S,AKBAR S A,et al.Design and development of digital PID controller for DC motor drive system using embedded platform for mobile robot[C]//3rd IEEE International Advance Computing Conference (IACC).Piscataway,NJ:IEEE Press,2013:52-55.
    [17] KRISHNAN P H, ARJUN M.Control of BLDC motor based on adaptive fuzzy logic PID controller[C]//International Conference on Green Computing Communication and Electrical Engineering (ICGCCEE).Piscataway,NJ:IEEE Press,2014:1-5.
    [18] 中华人民共和国交通运输部. 公路工程技术标准:JTG B01—2014[S].北京:人民交通出版社,2015:15. Ministry of Transport of the People's Republic of China.Technical standard of highway engineering:JTG B01—2014[S].Beijing:China Communications Press,2015:15(in Chinese).
    [19] TEXAS INSTRUMENTS. TMS320F2808 digital signal processors data manual[EB/OL].[2014-01-17].http://www.ti.com/lit/ds/symlink/tms320f2808.pdf.
    [20] NXP SEMICONDUCTORS. 74ALVC164245 16-bit dual supply translating transceiver[EB/OL].[2014-01-18].http://www.nxp.com/documents/data_sheet/74ALVC164245.pdf.
  • 加载中
计量
  • 文章访问数:  1179
  • HTML全文浏览量:  69
  • PDF下载量:  940
  • 被引次数: 0
出版历程
  • 收稿日期:  2015-04-29
  • 修回日期:  2015-05-08
  • 网络出版日期:  2016-04-20

目录

    /

    返回文章
    返回
    常见问答