Path planning algorithm for airborne pseudolites installed on stratospheric airships
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摘要:
几何布局对空基伪卫星导航系统至关重要,然而以往对其布局路径研究较少。为此,以基于平流层飞艇的空基伪卫星用最小能源代价获取最优导航服务效果为目标,分析了空基伪卫星几何布局对导航定位精度的影响,研究了平流层飞艇动力学模型、风场模型、能源消耗模型,阐述了基于平流层飞艇的空基伪卫星路径规划空间建立方法与路径表示方法,设计了融合导航定位精度指标和平流层飞艇能源消耗指标的路径规划代价函数,并在经典A*路径规划算法基础上,构建了基于平流层飞艇的空基伪卫星路径规划算法,针对多种输入条件对算法进行了仿真验证。仿真结果表明:所提路径规划算法可以有效改善伪卫星网络几何精度因子,同时大幅降低平流层飞艇的能源消耗。
Abstract:Airborne pseudolite navigation systems depend on geometry configuration, however previous research on how to create the ideal geometry configuration with the least amount of energy was limited. To solve this problem, the path planning algorithm of airborne pseudolite installed on stratospheric airships was discussed in this paper. First, the effect of pseudolite geometry configuration on positioning precision was analyzed. Second, the stratospheric airship dynamic model, wind field model and stratospheric airship energy consumption model were studied. Thirdly, a grid-based strategy for planning space establishment and path representation was described. Furthermore, a novel cost function for stratospheric airship path planning comprising positioning precision index and energy consumption index was designed. Based on the classic A* algorithm, a path planning algorithm for airborne pseudolite installed on a stratospheric airship was constructed. And finally, simulations were executed with various inputs to verify the proposed algorithm. The outcomes of the simulations demonstrated that the suggested approach may effectively increase geometric precision improvement while lowering stratospheric airship energy consumption.
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表 1 路径规划结果与直线飞行路径性能比较
Table 1. Performance comparison among path planning results and rectilinear flight path
路径类别 能源消耗/J 路径GDOP均值 GDOP均值变化量与能源
消耗平均权重9.11×108 20.18 GDOP均值变化量权重优先 4.10×109 26.09 能源消耗权重优先 7.29×108 21.67 直线飞行 3.04×109 29.46 表 2 不同飞行速度的路径规划结果性能比较
Table 2. Performance comparison among path planning results of different flight speeds
飞行速度/(m·s−1) 能源消耗/J 路径GDOP均值 20 1.24×109 26.27 25 1.16×109 26.29 30 9.11×108 26.27 35 9.31×108 25.30 表 3 不同规划起点的路径规划结果性能比较
Table 3. Performance comparison among path planning results of different planning starting points
规划起点 能源消耗/J 路径GDOP均值 东北角 1.48×109 18.12 东南角 1.28×109 23.84 西北角 1.01×109 26.88 西南角 8.94×108 18.58 中心点 8.61×108 13.15 表 4 不同水平方向网格数量的路径规划结果性能比较
Table 4. Performance comparison among path planning results with different numbers of grids in horizontal direction
水平方向网格数量 能源消耗/J 路径GDOP均值 10×10 1.14×109 31.89 15×15 1.33×109 26.87 20×20 9.11×108 26.27 25×25 9.95×108 21.94 30×30 7.62×108 21.89 35×35 7.82×108 20.09 40×40 7.39×108 19.16 表 5 不同垂直方向网格数量的路径规划结果性能比较
Table 5. Performance comparison among path planning results with different numbers of grids in vertical direction
垂直方向
网格数量能源消耗/J 路径GDOP均值 10 1.33×109 26.87 15 1.35×109 26.63 20 1.36×109 27.46 25 1.55×109 25.82 30 2.05×109 28.30 35 1.79×109 28.18 40 2.05×109 24.31 -
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