Unmanned aerial vehicle flight path tracking method adopting adaptive guiding lengths

Abstract

The invention provides an unmanned aerial vehicle flight path tracking method adopting adaptive guiding lengths. The method includes the steps that firstly, the relation between the speed of an aerial vehicle and the range of the guiding lengths is determined by considering constraint of dynamic properties of the guidance law and dynamic properties of an unmanned aerial vehicle flight control system in combination with the requirements for real-time performance of the aerial vehicle; then, the distance deviation and the course deviation between a predicted flight path and an expected flight path under the guiding lengths subjected to discrete sampling are calculated and weighted to serve as a criterion for evaluating tracking effects of different guiding lengths; finally, a series of guiding lengths subjected to discrete sampling are evaluated according to the evaluation criterion, the optimal guiding length is obtained, and the unmanned aerial vehicle is guided to track the flight path. The defects that due to the fact that guiding lengths are fixed, the situation that tracking precision is not high, and flight stability and safety are difficult to guarantee probably exists in the flight path tracking process are overcome. In addition, the overshoot severity problem easily occurring under the large initial deviation condition and in the way point switching process can be well solved.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an adaptive guiding length track tracking method for unmanned aerial vehicles. Background technique [0002] With the characteristics of light weight, low cost and strong adaptability, UAV has become a research hotspot in many countries in the world. In the related research of unmanned aerial vehicles, track tracking is the basis for the safe flight of unmanned aerial vehicles and the completion of flight missions, and it is also an important support for multi-aircraft coordinated formation flight, so it has become the focus of scholars' research. In the process of track tracking, the tracking accuracy and stability of the UAV must be considered comprehensively to ensure the safety and tracking reliability of the UAV. [0003] As the "brain" of the UAV, the flight control system of the UAV is the sum of all the devices and components used to transmit...

AI Technical Summary

Problems solved by technology

[0010] In view of the fact that if the guide length is not selected properly, the accuracy of track tracking will be low, and it is prone to vibrations and other defects. The present invention provides an adaptive guide length UAV track tracking method

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