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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。
In order to ensure a safe and stable flight of the UAV and achieve high-precision track-following, a guidance-point-based nonlinear guidance algorithm is proposed. Firstly, the kinematics model of UAV is established. Based on the theoretical analysis and experimental verification of the nonlinear guidance algorithm, the relationship between UAV flight velocity and guidance length is established. After that, it leads the adaptive track-and-track method, and discusses in detail the concrete realization of the method. Finally, through the comparison of simulation experiments under various conditions, the validity of the proposed method is verified. The simulation results show that the proposed method can track all kinds of complex trajectories more accurately and converge to the desired trajectory steadily and quickly under the conditions of larger initial deviations and temporary switching of waypoints, The need for actual missions.