Optimal constant guidance command solving method for automatic collision avoidance of unmanned plane

Abstract

The invention discloses an optimal constant guidance command solving method for automatic collision avoidance of an unmanned plane and belongs to the field of unmanned plane flight control technology. Through collision detection based on relative geometrical relationship between an unmanned plane and an invasion machine, a constant guidance command feasible region is firstly solved by a geometric method and overload constraint and collision avoidance is carried out through particle swarm optimization to finish time valuation; then, a objective evaluation function of the optimal constant guidance command is established; and through a traversal method for solving, the minimum guidance command is gained as the objective function, namely the optimal constant guidance command. Automatic collision avoidance of unmanned planes can be achieved, online estimation of collision time is finished, and the lowest energy consumption during the collision-avoiding maneuvering flight process is realized.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle flight control, and in particular relates to a method for solving an optimal constant guidance instruction for automatic collision avoidance of an unmanned aerial vehicle. Background technique [0002] With the widespread use of unmanned aerial vehicles in multiple fields such as reconnaissance, search and rescue, transportation, and military affairs, the continuous increase in its flight activities has brought great security risks to other aircraft in the airspace environment and third parties on the ground. It is a future development trend that UAVs and manned aircrafts share the airspace, so the problem of collision avoidance has become one of the key challenges restricting the development of UAVs. In 2015, pilots encountered drones 2.7 times more than in 2014, exceeding 600 times. Unmanned aircraft pose a growing threat to aviation safety. The main reason is that UAVs do not ...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problems of large nonlinear guidance command peak value, poor attitude tracking performance and difficult accurate estimation of collision avoidance time in the process of UAV automatic collision avoidance based on proportional guidance, the present invention provides a method for UAV automatic collision avoidance. The solution method of the optimal constant value guidance command for collision avoidance is reasonably designed, overcomes the shortcomings of the existing technology, and has good results

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