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Control method for keeping virtual formation station between UAV and ground maneuvering target

A maneuvering target, maintaining control technology, applied in the field of unmanned aerial vehicles, which can solve problems such as influence and uncertain track control

Active Publication Date: 2019-06-25
XIAN AISHENG TECH GRP +1
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  • Claims
  • Application Information

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Problems solved by technology

[0005] In order to overcome the deficiencies of the existing technology, realize the flexible and stable tracking of the fixed-wing UAV on the ground maneuvering target, and solve the problem of the track control of the fixed-wing UAV due to the uncertainty of the target motion information and the measurement uncertainty of the reconnaissance equipment. Influence of the problem, the present invention proposes a "virtual formation" battle position control method for UAVs and ground maneuvering targets

Method used

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  • Control method for keeping virtual formation station between UAV and ground maneuvering target
  • Control method for keeping virtual formation station between UAV and ground maneuvering target
  • Control method for keeping virtual formation station between UAV and ground maneuvering target

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Embodiment Construction

[0064] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0065] Step 1: Establish a ground maneuvering target motion model and estimate the target motion information;

[0066] For ground maneuvering targets, the Singer model is used to describe, namely:

[0067]

[0068] where x, are the position, velocity, acceleration and jerk of the target respectively; ω(t) is the mean value is 0, and the variance is σ 2 Gaussian white noise of , α is the maneuvering coefficient;

[0069] The airborne reconnaissance equipment loaded on the UAV obtains the position of the ground maneuvering target relative to the UAV by performing ranging and positioning on the ground maneuvering target, and then obtains the real-time position of the ground maneuvering target according to the known position of the UAV;

[0070] To establish a discrete Kalman filter, take the state quantity as [p x ,v x ,a x ,p y ,v y ,a y ] T...

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Abstract

The invention provides a control method for keeping a virtual formation station between a UAV and a ground maneuvering target. A ground maneuvering target motion model is built, the target motion information is established, and a virtual formation model and a fuzzy state machine are built; the virtual formation point motion information is maintained according to the target motion information; a rolling instruction is calculated by using the virtual formation point motion information and UAV motion information; a UAV aileron control instruction and a rudder control instruction are calculated bythe rolling angle instruction and are sent to an actuator for UAV attitude control. The tracking application modes of the UAV towards the ground maneuvering target are flexible and diverse, and various tracking requirements can be met; the influences of system uncertainty and measurement uncertainty on the UAV are reduced, and UAV attitude jitter is further suppressed; and the tracking ability ofthe UAV for the ground maneuvering target is improved, and the flight safety is also ensured.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a method for controlling an unmanned aerial vehicle and a ground maneuvering target. Background technique [0002] Reconnaissance UAVs generally carry visible light / infrared sensors and laser ranging / irradiation equipment to complete the functions of reconnaissance, positioning and irradiation guidance of ground targets. To complete these functions, the photoelectric equipment of the UAV needs to be able to track the ground target stably. When the fixed-wing UAV tracks the ground maneuvering target, it cannot hover due to the need to maintain the airspeed, and the flight speed of the UAV is generally The movement speed of the ground target is greater than that of the ground target. Therefore, the tracking of the ground maneuvering target by the fixed-wing UAV requires the establishment of a "virtual formation" battle position between the UAV and the ground maneuvering targ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
Inventor 贾伟孙哲芃肖佳伟汤恒先
Owner XIAN AISHENG TECH GRP
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