北京航空航天大学学报 ›› 2017, Vol. 43 ›› Issue (7): 1481-1490.doi: 10.13700/j.bh.1001-5965.2016.0522

• 论文 • 上一篇    下一篇

自适应引导长度的无人机航迹跟踪方法

李樾1,2, 陈清阳1, 侯中喜1   

  1. 1. 国防科学技术大学 航天科学与工程学院, 长沙 410073;
    2. 海军航空工程学院 飞行器工程系, 烟台 264001
  • 收稿日期:2016-06-15 修回日期:2016-09-21 出版日期:2017-07-20 发布日期:2016-11-14
  • 通讯作者: 陈清阳,E-mail:chy1982_008@nudt.edu.cn E-mail:chy1982_008@nudt.edu.cn
  • 作者简介:李樾 男,博士研究生。主要研究方向:飞行器动力学与控制;陈清阳 男,博士,讲师。主要研究方向:飞行器动力学与控制;侯中喜 男,博士,教授,博士生导师。主要研究方向:临近空间飞行器与技术。
  • 基金资助:
    中国博士后科学基金(2014M562652)

Path following method with adaptive guidance length for unmanned aerial vehicles

LI Yue1,2, CHEN Qingyang1, HOU Zhongxi1   

  1. 1. College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China;
    2. Department of Airborne Vehicle Engineering, Naval Aeronautical and Astronautical University, Yantai 264001, China
  • Received:2016-06-15 Revised:2016-09-21 Online:2017-07-20 Published:2016-11-14
  • Supported by:
    China Postdoctoral Science Foundation (2014M562652)

摘要: 为保证无人机安全稳定的飞行,实现高精度的航迹跟踪,基于引导点的非线性制导算法,提出了一种引导长度自适应的航迹跟踪方法。首先建立无人机运动学模型,依此对非线性的制导算法进行理论分析与试验验证,建立无人机飞行速度与引导长度之间的关系。之后引出引导长度自适应的航迹跟踪方法,详细讨论方法的具体实现过程。最后通过各种情况下的仿真对比试验,验证所提出方法的有效性。仿真结果表明,所提出的方法能较精确地跟踪各种复杂航迹,同时在较大的初始偏差和航路点临时切换的情况下能稳定、快速地收敛到期望航迹,更好地满足各种实际飞行任务的需求。

关键词: 航迹跟踪, 无人机, 非线性制导方法, 引导长度自适应, 高精度

Abstract: To guarantee the flight stability and high accuracy of path following for unmanned aerial vehicles (UAVs), a nonlinear path following method with adaptive guidance length is proposed. First, the kinematic model of UAVs was built. Second, the relation between guidance length and velocity of UAVs was found according to the theoretical analysis and flight experiments of nonlinear guidance law. Then the theory and detailed realization process of the adaptive guidance length method was discussed. Finally, simulation in various situations was carried out to verify the effectiveness of the proposed method. The simulation results show that the proposed method is able to track complex trajectory accurately, even with large initial cross track error or during waypoint switching process. It can satisfy the requirement of actual flight missions.

Key words: path following, UAV, nonlinear guidance method, adaptive guidance length, high accuracy

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