北京航空航天大学学报 ›› 2014, Vol. 40 ›› Issue (6): 803-809.doi: 10.13700/j.bh.1001-5965.2013.0453

• 论文 • 上一篇    下一篇

面向机动目标跟踪的无人机横侧向制导规律

王树磊1, 魏瑞轩1, 郭庆1, 蔚文杰2   

  1. 1. 空军工程大学 无人机运用工程系, 西安 710038;
    2. 空军指挥学院 作战仿真实验室, 北京 100097
  • 收稿日期:2013-08-01 出版日期:2014-06-20 发布日期:2014-07-03
  • 作者简介:王树磊(1983- ),男,江苏沛县人,博士生,290048662@qq.com.
  • 基金资助:

    航空科学基金资助项目(20135896027)

UAV lateral guidance law for tracking of maneuvering target

Wang Shulei1, Wei Ruixuan1, Guo Qing1, Wei Wenjie2   

  1. 1. UAV Application Engineering Department, Air Fore Engineering University, Xi'an 710038, China;
    2. Combat Simulation Experimental Lab, Air Fore Command College, Beijing 100097, China
  • Received:2013-08-01 Online:2014-06-20 Published:2014-07-03

摘要: 现有的standoff跟踪制导方法在进行机动目标跟踪时不能同时满足响应速度和稳态精度的要求.对用于航路跟踪的参考点制导法(RPG,Reference Point Guidance)进行改进,推导了无人机(UAV,Unmanned Aerial Vehicle)在跟踪机动目标时的横侧向制导规律.采用二阶非线性微分方程对UAV和目标相对距离的调节过程进行建模,在此基础上分析了改进后RPG的渐近稳定性.仿真结果表明,相比Lyapunov向量场(LVFG,Lyapunov Vector Field Guidance)和模型预测控制(MPC,Model-based Predictive Control)的制导方法,改进RPG的跟踪误差和时间乘以误差绝对值积分(ITAE,Integrated Time Absolute Error)指标均优于LVFG和MPC.因此,所提制导规律能够对机动目标的运动进行有效补偿,并具有更快的响应速度、更高的稳态精度和较好的实时性.

Abstract: The existing lateral guidance law for standoff target tracking either converges slowly or has a large steady state error when tracking a maneuvering target. The reference point guidance (RPG) for path following problem was modified as lateral guidance law of unmanned aerial vehicle (UAV) for tracking a maneuvering target. The convergent process of relative distance between and target was modeled by two-dimensional nonlinear differential equations, and then the asymptotic stability of modified RPG was demonstrated. Simulation shows that, the modified RPG has smaller tracking error and integrated time absolute error (ITAE) compared to the methods of Lyapunov vector field guidance (LVFG) and model-based predictive control (MPC), thus the proposed guidance law makes an efficient compensation of the motion of maneuvering target, and has higher steady state accuracy and higher real-time performance.

中图分类号: 


版权所有 © 《北京航空航天大学学报》编辑部
通讯地址:北京市海淀区学院路37号 北京航空航天大学学报编辑部 邮编:100191 E-mail:jbuaa@buaa.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发