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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。
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.
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Key words:
- path following /
- UAV /
- nonlinear guidance method /
- adaptive guidance length /
- high accuracy
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图 2 无人机滚转时重力与升力的平衡关系
Figure 2. Equilibrium relationship between weight and lift on rolling of UAV
图 8 滚转通道闭环传递函数的框图
Figure 8. Block diagram of roll channel closed-loop transfer function
图 9 滚转通道闭环传递函数的伯德图
Figure 9. Bode diagram of roll channel closed-loop transfer function
图 10 自适应引导长度的航迹跟踪方法原理图
Figure 10. Illustrative diagram of path following method with adaptive guidance length
图 17 定引导长度与自适应引导长度航迹对比
Figure 17. Comparison of flight track between fixed guidance length and adaptive guidance length
表 1 稳定跟踪过程精度
Table 1. Accuracy of stable tracking process
L/m 侧偏距的均方根/m 50 1.148 2 70 3.740 0 90 4.674 5 110 5.361 7 130 8.245 1 150 9.243 7 
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