Drone three-dimensional flight path self-adaptation tracking method based on feasible region restriction

Abstract

The invention provides a drone three-dimensional flight path self-adaptation tracking method based on feasible region restriction. The method comprises the steps of firstly, determining a three-dimensional flight feasible region omega F of a drone; then adopting a three-dimensional non-linear guidance algorithm with the guide length being adjusting parameters to track a target flight path, when the drone is beyond a flight feasible region, adopting the minimum guide length which meets the requirement as the reference guide length, and when the drone is within the flight feasible domain, adopting the maximum guide length which meets the requirement as the reference guide length; regarding the reference guide length as the final guide length after the reference guide length multiplies a proper safety coefficient. After the final guide length is determined, three-dimensional centripetal force needed for completing the guide flight path is calculated, and is then mapped to all axle aerodynamic force increments to serve as control system input. By means of the drone three-dimensional flight path self-adaptation tracking method based on the feasible region restriction, the problem that the guide length selection in the non-linear guidance algorithm is lack of basis is solved, and self-adaptive adjustment of requirements like flight safety, tracking precision and stability in the flight path tracking process is achieved.

Description

technical field [0001] The invention belongs to the technical field of aircraft navigation guidance and control, and in particular relates to a three-dimensional track adaptive tracking method for an unmanned aircraft based on feasible region constraints. Background technique [0002] Among the existing aircraft track tracking methods, the nonlinear guidance algorithm has attracted widespread attention due to its better steady-state accuracy and wind resistance. However, this algorithm is usually only applied to the tracking of the two-dimensional plane track of the aircraft, and the selection of the guide length is too dependent on experience, so that in the actual use process, the tracking performance and flight stability are often not guaranteed, which makes the controlled flight The trace often has large overshoot and oscillation. Contents of the invention [0003] In view of the existing aircraft track tracking method, the non-linear guidance algorithm with good perf...

AI Technical Summary

Problems solved by technology

[0003] In view of the existing aircraft track tracking method, the non-linear guidance algorithm with good performance is only applied to the course track tracking, and the selection of its guidance length is too dependent on experience, and the flight stability cannot be maintained. The present invention provides a feasible Domain Constrained 3D Track Adaptive Tracking Method for Unmanned Aerial Vehicles

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