Vision sensing-based bionic staged composite terminal guidance method

A visual sensing and visual sensor technology, applied in the field of guidance, can solve problems such as targets escaping from the detector's field of view

Inactive Publication Date: 2018-09-04
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0005] The present invention aims at the problem that the target may escape out of the field of view of the detector when the micro-aircraft intercepts and intercepts a moving target with a similar speed to the traditional guidance law, and provides a bionic segmental compound terminal guidance method based on visual sensing

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  • Vision sensing-based bionic staged composite terminal guidance method
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  • Vision sensing-based bionic staged composite terminal guidance method

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Embodiment Construction

[0060] In order to better illustrate the advantages and purposes of the present invention, the present invention will be described in detail below in conjunction with the accompanying drawings and examples.

[0061] The present invention as figure 1 As shown, in the initial stage of the terminal guidance, the sliding mode guidance law that controls the parallax angle of the target is used to quickly adjust the flight direction of the aircraft, so that the aircraft quickly enters the tail-tracking state. A second-order smooth handover law is used for the transition between segments.

[0062] Taking a certain type of micro-aircraft as an example to strike a moving target on the ground in the vertical plane is introduced. The initial coordinate of the aircraft is (0,150)m, the initial speed is 12m / s, the initial speed direction angle is -112°, the initial coordinate of the target is (-60,0)m, and the speed is 10m / s along the positive direction of the x-axis , the initial target...

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Abstract

The invention relates to a vision sensing-based bionic staged composite terminal guidance method, which belongs to the technical field of guidance. A staged tracking strategy of turning intercepting to tail chasing when a dragonfly tracks a fruit fly is simulated, a sliding mode guidance law of controlling a target parallax angle is used in an early stage of guidance to quickly adjust the flying direction of an aerocraft, and the aerocraft quickly enters a tail chasing state; in a terminal stage of guidance, a motion camouflage guidance law with a focus located at infinity is used to guide theaerocraft to track the target, and in a transition stage between the early stage and the terminal stage, a two-step slip intersection law is used. According to the terminal guidance method disclosedin the invention, when a micro aerocraft which depends on a vision sensor to detect a target intercepts a quick moving target, the required overload is smaller in comparison with the traditional guidance method, the target is closer to the visual field center of the vision detector, and the target can be ensured to be hard to escape from the visual field of the vision detector during the guidanceprocess.

Description

technical field [0001] The invention relates to a bionic segmental composite terminal guidance method based on visual sensing, which belongs to the technical field of guidance. Background technique [0002] American biologists used a high-speed camera to study dragonfly predation The tracking principle of fruit flies, and pointed out that in the process of catching fruit flies, no matter what the initial state is, the dragonfly will adjust its flying posture in the early stage of tracking, so that it can quickly enter the state of chasing fruit flies, and in the end of tracking, the dragonfly will A tracking strategy called "motion camouflage" will be used to track fruit flies. "Motion camouflage" tracking strategy is an Australian biologist in (Srinivasan M V, Davey M. Strategies for active camouflage of motion [J]. Proceedings of the Royal Society of London B: Biological Sciences, 1995, 259 (1354): 19-25 .) A covert tracking strategy for flying insects proposed in the ar...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 黄伟林王正杰张之得
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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