Field-of-view constraint-based anti-radiation unmanned aerial vehicle search path planning method
An unmanned aerial vehicle and anti-radiation technology, applied in the field of man-machine, can solve the problems of reducing the combat effectiveness of anti-radiation unmanned aerial vehicles, not ensuring the coverage of anti-radiation unmanned aerial vehicles, etc., to achieve the effect of enhancing scientificity
Active Publication Date: 2020-12-11
NAT UNIV OF DEFENSE TECH
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[0005] The search track formed by this method only realizes the optimization of the track distance, but it does not guarantee the maximum coverage of the anti-radiation UAV on the target, which reduces the combat effectiveness of the anti-radiation UAV
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[0081] as attached image 3 Shown is a three-dimensional instantaneous field of view model diagram of the present invention. Among them: P is the position of the UAV seeker on the Z axis, O is the projection point of P point on the ground, H is the flight height of the UAV at a certain instant (the target altitude position is horizontal 0 meters), and the graph ABCD is The instantaneous field of view covers the area S, D 1 、D 2 is the midpoint of line segment AB and line segment CD. ∠OPD 1 、∠OPD 2 θ is the detection angle min , θ max ,∠D 1 PD 2 is the detection angle range Δθ, and ∠DPC is the horizontal field angle range 2ψ. Seeker farthest detection distance PD 2 = R max , the closest detection distance PD 1 = R min , near border width of field of view AB=r ab , the width of the far boundary of the field of view CD=r cd .
[0082] Step 1: Establish a three-dimensional instantaneous field of view model to determine the coverage of the instantaneous field of vie...
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The invention provides a field-of-view constraint-based anti-radiation unmanned aerial vehicle search path planning method, and solves the problem that the field-of-view coverage rate is not considered in anti-radiation unmanned aerial vehicle path planning. The method comprises the steps of: constructing a three-dimensional instantaneous field-of-view model and a dynamic field-of-view model basedon field-of-view coverage, determining a field-of-view coverage calculation method, rasterizing a task area based on a field-of-view boundary, calculating the field-of-view coverage of a search flight path as a search flight path evaluation index, and performing weighted summation by using the field-of-view coverage and voyage cost to construct a fitness function; and finally, generating the optimal search track of the anti-radiation unmanned aerial vehicle through an improved genetic algorithm, so that the scientificity and reasonability of track planning are enhanced, and the combat effectiveness of the anti-radiation unmanned aerial vehicle can be brought into full play.
Description
technical field [0001] The invention belongs to the field of human-machine technology, and relates to a method for planning an anti-radiation unmanned aerial vehicle search track based on field of view constraints. Background technique [0002] The anti-radiation drone is a new type of anti-radiation weapon that can effectively suppress and damage electromagnetic radiation sources such as radar air defense systems and communication centers. The passive radar seeker installed on the head of the drone can realize the detection of hidden radiation sources in the combat area. The signal is used for target search, signal interception, identification and tracking. At the same time, the passive radar seeker also adds field of view constraints to the anti-radiation UAV's search for targets. In addition, the anti-radiation UAV has the characteristics of "no matter after launch", and can only fly according to the predetermined track during the search phase. Therefore, higher requireme...
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IPC IPC(8): G01C21/20G05D1/10
CPCG01C21/20G05D1/101Y02T10/40
Inventor 罗金亮欧宗伟任义东赵铭杨健
Owner NAT UNIV OF DEFENSE TECH