Autonomous navigation guidance method used for pilotless plane

Abstract

The invention discloses an autonomous navigation guidance method used for a pilotless plane, which comprises a fairway planning method based on a speed vector field and a track tracking guidance method based on nonlinear navigation logic guidance law. The fairway planning method is characterized in that the flying area of a pilotless plane is regarded as the area of a speed field; a hauling field is generated at a target point in the area and generates the hauling speed on a planning point; an evasion field and a guide field are generated in a threat area and generates evasion speed and guide speed on the planning point; under the action of planning resultant speed, the movement track of the planning point is a fairway to be planned. The track tracking method is characterized in that a nonlinear navigation logic guidance command is given according to a given track by combining with the current position, the attitude information and the detection step length of the pilotless plane; a nonlinear guidance command is converted into a roll angle command by the conversion relation between accelerated speed and a roll angle; and the track tracking is realized by a flight control system. The invention has simple realization and good real-time performance and has very strong practical application prospect.

Description

technical field [0001] The invention relates to the field of aviation technology, and more specifically, the invention relates to an autonomous navigation method of an unmanned aircraft. Background technique [0002] The autonomous navigation method of unmanned aircraft refers to the ability of the unmanned aircraft to generate and follow the route online and complete the task according to its current state and environmental information after receiving the execution task. Usually the autonomous navigation method includes three parts: navigation module, guidance module and control module. The invention is mainly aimed at the navigation and guidance method in the autonomous navigation method of the unmanned aircraft. [0003] The navigation method refers to the route planning method of the unmanned aircraft, which refers to finding an optimal or satisfactory flight route from the take-off point to the target point under the conditions of satisfying the constraints of the unma...

AI Technical Summary

Problems solved by technology

Once the route is bound to the drone, it is not easy to change

During the flight, when the flight mission or the flight environment changes, it is difficult for the unmanned aircraft to update the route in time, which is not conducive to the improvement of the autonomous navigation ability of the unmanned aircraft

[0007] 2. Although the current planning method can give the optimal or satisfactory route, due to the global optimization mechanism of the algorithm, the algorithm has a large amount of calculation, takes a long time, and takes up a lot of hardware resources, which is not conducive to embedding it into a small flight as a navigation module control system go

[0008] 3. Most of the conventional track tracking methods are control schemes based on side offset and yaw angle, which need to accurately calculate side offset and yaw angle

When an unmanned aircraft tracks a track with a complex shape, due to the complex shape of the track, it is not easy to calculate the yaw distance and heading angle, which is not conducive to the generation of yaw control law

Images