A heading error correction method for the initial segment of UAV tracking target based on dynamic inverse

A technology of heading error and target tracking, which is applied to the control of finding targets, navigation calculation tools, instruments, etc., and can solve problems such as time separation, system complexity, and implementation difficulties

Active Publication Date: 2022-07-12
NAVAL AVIATION UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The document "Jiang F, Swindlehurst A L. Optimization of UAV Heading for the Ground-to-Air Uplink [J]. IEEE Journal on Selected Areas in Communications, 2012, 30(5): 993-1005." proposed a dynamic adjustment without Algorithm for man-machine heading, this method requires support from multiple reference objects and multiple mobile terminals, and it is difficult to implement
Literature "Tan F, Liu D, Guan X, et al. Unmanned aerial vehicles (UAV) heading optimal tracking control using online kernel-based HDP algorithm. [J]. State Key Laboratory of Management and Control of Complex Systems, 2014: 2683-2689. "According to the measurement results of the aviation data system to identify the actual heading angle of the UAV, and issue an attitude adjustment command to the UAV to complete the correction of the heading, this method can effectively identify the heading of the UAV and provide the required data, but it can also more difficult
[0006] To sum up, although the existing methods can solve the above problems to a certain extent, there are either the time separation between the course convergence process and the UAV tracking convergence to the target circle, or there are problems such as complex systems and difficult implementations.

Method used

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  • A heading error correction method for the initial segment of UAV tracking target based on dynamic inverse
  • A heading error correction method for the initial segment of UAV tracking target based on dynamic inverse
  • A heading error correction method for the initial segment of UAV tracking target based on dynamic inverse

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Experimental program
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Effect test

Embodiment 1

[0127] In this embodiment, the initial conditions for tracking and setting the simulation for the situation that the initial heading of the UAV is not aligned with the desired heading are: the target is at the origin (0,0); the initial position of the UAV is (6000m, 6000m); the initial position of the UAV is at (0,0); actual heading ψ 0 =π / 3; according to the Lyapunov vector field definition, the desired flight heading at the initial position of the UAV Then the initial heading error of the UAV tracking the target is In order to clearly represent the flight trajectory, this implementation sets the UAV flight speed u 0 =500m / s; the expected tracking radius is 2000m; the feasible error of heading error correction is 3%.

[0128] First, the Lyapunov vector field method is used to guide the UAV from the initial position along the vector field direction to the desired tracking trajectory of the target, such as Figure 5 shown.

[0129] The initial actual heading ψ of the UAV ...

Embodiment 2

[0131] When the feedback gain k takes different values, the convergence speed of the heading error is also different. This embodiment is a simulation of the heading error convergence speed under different feedback gains k.

[0132] The simulation conditions of this example are the same as those of Example 1, but respectively k 1 =0.3, k 2 = 0.6 and k 3 = 2 to simulate, the simulation results are as follows Figure 8 shown. The schematic diagram of the heading error change under different feedback gains is as follows Figure 9 shown.

[0133] Table 1 Correction time under different k values

[0134]

[0135] Depend on Figure 8 and Figure 9 The simulation results show that as the value of the feedback gain k increases, the time required for the UAV to correct the heading error is less, that is, the UAV heading can quickly align with the desired direction of the guidance vector field.

[0136] It should be noted that the increase of the k value will also cause the U...

Embodiment 3

[0138] In this embodiment, the circular arc method is selected to correct the heading error of the initial section of the UAV, and a simulation comparison is made with the method of the present invention.

[0139] The specific method is to make the UAV fly along a circular trajectory when the UAV starts, and constantly compare the error between the UAV's current heading and the desired heading of the real-time position during the flight. Clearly, there is a point on the arc where the actual flight heading of the drone aligns with the desired heading of the Lyapunov vector field.

[0140] In order to compare the performance of the method of the present invention and the two heading error correction methods of the arc method, k=1 is taken in this embodiment, and the minimum turning radius of the UAV calculated under this curvature condition is r min = 206.9m. In order to ensure that the UAV can complete the correction of the heading error in the shortest time when the UAV adopt...

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Abstract

The invention discloses a method for correcting the heading error in the initial segment of the tracking target of an unmanned aerial vehicle based on dynamic inverse. The method comprises the following steps: calculating the initial heading error; performing dynamic reverse heading correction; updating and correcting the heading error until the heading error approaches Correction completed at 00:00. This method solves the problem of time separation between the heading convergence process and the UAV tracking convergence to the target circle existing in the existing methods, and can realize the rapid response to the large heading error existing in the initial segment of the UAV tracking target. correction, and the convergence speed is controllable, and the overload of the correction process is continuously reduced; the method also has the advantages of global stability, good effectiveness and practicability.

Description

technical field [0001] The invention belongs to the field of path planning of unmanned aerial vehicles, and mainly relates to a heading error correction method for the initial segment of a tracking target of an unmanned aerial vehicle, in particular to a method for correcting the heading error of the initial segment of the unmanned aerial vehicle tracking target based on dynamic inverse. Background technique [0002] As a kind of aircraft that can be controlled autonomously or remotely, UAV has received more and more attention due to its high endurance and maneuverability, and its path planning during flight has also become a research hotspot. [0003] Tracking and monitoring ground targets is one of the main tasks of Unmanned Aerial Vehicle (UAV). In order to continuously track the target and obtain target information, when performing such tasks, the UAV takes the target as the center and the desired tracking distance as the radius, and circles and tracks the target. Howev...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/12G01C21/20G01C25/00
CPCG05D1/12G01C21/20G01C25/00G01C25/005
Inventor 张毅杨秀霞曹唯一方国伟严瑄高恒杰
Owner NAVAL AVIATION UNIV
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