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A virtual formation battle position keeping control method between UAV and ground maneuvering target

A technology of maneuvering target and maintaining control, applied in the field of unmanned aerial vehicles, can solve the problems of influence and uncertain track control, and achieve the effect of ensuring flight safety, improving tracking ability, and reducing influence

Active Publication Date: 2021-12-10
XIAN AISHENG TECH GRP +1
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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

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  • A virtual formation battle position keeping control method between UAV and ground maneuvering target
  • A virtual formation battle position keeping control method between UAV and ground maneuvering target
  • A virtual formation battle position keeping control method 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 measuring and positioning 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 ,in

[007...

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Abstract

The invention provides a "virtual formation" battle position control method for UAVs and ground maneuvering targets, which establishes a ground maneuvering target motion model, estimates the target motion information, establishes a "virtual formation" model and a fuzzy state machine, and The movement information maintains the movement information of the virtual formation point, uses the movement information of the virtual formation point and the UAV movement information to calculate the roll command, calculates the UAV aileron control command and the rudder control command from the roll angle command, and sends it to the actuator for unmanned control. Man-machine attitude control. The invention makes the UAV track the ground maneuvering target flexible and diverse, and meets various tracking requirements; reduces the influence of system uncertainty and measurement uncertainty on the UAV, thereby suppressing the attitude of the UAV Jitter; improves the UAV's ability to track maneuvering targets on the ground, and also ensures flight safety.

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 Patents(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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