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基于平流层飞艇的空基伪卫星路径规划算法

曲艺 王生 曾凌川 巩应奎

曲艺,王生,曾凌川,等. 基于平流层飞艇的空基伪卫星路径规划算法[J]. 北京航空航天大学学报,2023,49(5):1071-1082 doi: 10.13700/j.bh.1001-5965.2021.0385
引用本文: 曲艺,王生,曾凌川,等. 基于平流层飞艇的空基伪卫星路径规划算法[J]. 北京航空航天大学学报,2023,49(5):1071-1082 doi: 10.13700/j.bh.1001-5965.2021.0385
QU Y,WANG S,ZENG L C,et al. Path planning algorithm for airborne pseudolites installed on stratospheric airships[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(5):1071-1082 (in Chinese) doi: 10.13700/j.bh.1001-5965.2021.0385
Citation: QU Y,WANG S,ZENG L C,et al. Path planning algorithm for airborne pseudolites installed on stratospheric airships[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(5):1071-1082 (in Chinese) doi: 10.13700/j.bh.1001-5965.2021.0385

基于平流层飞艇的空基伪卫星路径规划算法

doi: 10.13700/j.bh.1001-5965.2021.0385
基金项目: 海南省自然科学基金(620MS076);中国科学院战略性先导科技专项(XDA17040401)
详细信息
    通讯作者:

    E-mail:shengwang@aoe.ac.cn

  • 中图分类号: V249;V274

Path planning algorithm for airborne pseudolites installed on stratospheric airships

Funds: Hainan Provincial Natural Science Foundation of China (620MS076); Strategic Priority Research Program of the Chinese Academy of Sciences (XDA17040401)
More Information
  • 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。

     

  • 图 1  仿真流程

    Figure 1.  Flow chart of simulation

    图 2  路径规划结果与直线飞行路径的对比

    Figure 2.  Comparison among path planning results and rectilinear flight path

    图 3  不同飞行速度的路径规划结果对比

    Figure 3.  Comparison among path planning results of different flight speeds

    图 4  不同规划起点的路径规划结果对比

    Figure 4.  Comparison among path planning results of different planning starting points

    图 5  不同水平方向网格数量的路径规划结果对比

    Figure 5.  Comparison among path planning results of different numbers of grids in horizontal direction

    图 6  不同垂直方向网格数量的路径规划结果对比

    Figure 6.  Comparison among path planning results of different numbers of grids in vertical direction

    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
    9.11×10820.18
    GDOP均值变化量权重优先4.10×10926.09
    能源消耗权重优先7.29×10821.67
    直线飞行3.04×10929.46
    下载: 导出CSV

    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
    201.24×10926.27
    251.16×10926.29
    309.11×10826.27
    359.31×10825.30
    下载: 导出CSV

    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1.48×10918.12
    东南角1.28×10923.84
    西北角1.01×10926.88
    西南角8.94×10818.58
    中心点8.61×10813.15
    下载: 导出CSV

    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
    10×101.14×10931.89
    15×151.33×10926.87
    20×209.11×10826.27
    25×259.95×10821.94
    30×307.62×10821.89
    35×357.82×10820.09
    40×407.39×10819.16
    下载: 导出CSV

    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
    101.33×10926.87
    151.35×10926.63
    201.36×10927.46
    251.55×10925.82
    302.05×10928.30
    351.79×10928.18
    402.05×10924.31
    下载: 导出CSV
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出版历程
  • 收稿日期:  2021-07-09
  • 录用日期:  2021-10-11
  • 网络出版日期:  2021-11-09
  • 整期出版日期:  2023-05-31

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