Transverse lateral curve flight-path tracking method based on curvature compensation

A technology of trajectory tracking and curvature compensation, which is applied in three-dimensional position/channel control and other directions, can solve the problems of unmanned aerial vehicles unable to track the planned trajectory and large tracking error, and achieve good tracking trajectory and reduced tracking error.

Active Publication Date: 2013-06-12
BEIHANG UNIV
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Problems solved by technology

[0006] Since the tracking track of the drone is a broken line, there will be a large tracking error during the trackin

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  • Transverse lateral curve flight-path tracking method based on curvature compensation
  • Transverse lateral curve flight-path tracking method based on curvature compensation
  • Transverse lateral curve flight-path tracking method based on curvature compensation

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Embodiment Construction

[0021] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0022] The present invention proposes a method for tracking lateral curve tracks based on curvature compensation. First, the discrete waypoint data of the reference track is obtained through the track planning module, and then the discrete waypoint data is obtained by using the Lagrangian segmental polynomial interpolation method. Points are subjected to segmental interpolation fitting processing to obtain the curved track, and the shortest distance between the current position of the drone and the reference curve track segment is calculated in real time to obtain the side offset distance of the drone, and at the same time, the closest distance to the aircraft on the reference track can be obtained The coordinates at the point, the curvature value at the corresponding point can be obtained through the curvature calculation formula, and the above-mentio...

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Abstract

The invention discloses a transverse lateral curve flight-path tracking method based on curvature compensation and belongs to the technical field of flight-path tracking control. The transverse lateral curve flight-path tracking method based on curvature compensation comprises the following steps of: obtaining discrete flight-route point data of a reference flight path by a flight-path planning module; carrying out piecewise interpolation fitting processing on the obtained discrete flight-path point data by a Lagrange piecewise polynomial interpolation method to obtain a curve flight path; calculating the lateral offset distance of an unmanned plane at the present moment, and calculating a curvature value of a point, closest to the plane, on the reference flight path by referencing the coordinates of the point, closest to the plane, on the reference flight path; and completing the whole curve flight-path tracking process by using the obtained lateral offset distance and the curvature value as input variables of a transverse lateral controller of the unmanned plane. According to the transverse lateral curve flight-path tracking method disclosed by the invention, the curve interpolation fitting processing is carried out on the reference flight path, so that the transitional section of the flight path points in the tracking process is smoother and the tracking errors are smaller, therefore, the flight path can be tracked better.

Description

technical field [0001] The invention relates to an aircraft track tracking control method, which belongs to the technical field of track tracking control, and specifically refers to a curvature compensation-based lateral curve track tracking method. Background technique [0002] UAV, also known as unmanned aircraft or remote piloted aircraft, is a non-manned aircraft controlled by radio remote control equipment or pre-programmed. It has many advantages that manned aircraft do not have, and can perform various operations. It has broad military application prospects. [0003] With the continuous expansion of the application field of UAVs, the flight requirements of UAVs are becoming more and more stringent, and accurate and fast tracking of the predetermined trajectory is one of them. The track tracking control of the UAV is mainly realized through the flight control system of the UAV. In this way, how to adjust the flight control system of the UAV to enable the UAV to track...

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Application Information

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IPC IPC(8): G05D1/10
Inventor 王宏伦许敬刚吕文涛盖文东
Owner BEIHANG UNIV
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