A UAV control method for tracking maneuvering targets

Abstract

The invention provides a UAV control method and system for tracking a maneuvering target. The method includes: obtaining motion information, the motion information including position information and speed information; obtaining a roll angle command of a multi-rotor UAV; The flight attitude of the rotor UAV is controlled, and the method also includes setting up a virtual target, and completing the tracking of the tracking target through the tracking of the virtual target by the multi-rotor UAV. The present invention adopts the improved reference point method, and also utilizes the method of setting up a virtual target to control the flight attitude of the multi-rotor aircraft, so that when tracking the target, the multi-rotor aircraft can converge to the desired track, and the present invention can realize the multi-rotor aircraft Fly clockwise and counterclockwise around the target, quickly converge to the desired track from any initial position and initial flight direction.

Description

technical field [0001] The invention belongs to the technical field of target tracking, and in particular relates to an unmanned aerial vehicle control method and system for tracking a maneuvering target. Background technique [0002] Since the environment in which an aircraft such as an unmanned aerial vehicle is in a flight process is constantly changing, the actual flight trajectory of the aircraft deviates from the standard trajectory. The problem of tracking guidance is to make the trajectory of the UAV converge to a fixed standard trajectory as much as possible by designing the tracking guidance law. [0003] There are many design methods for the tracking guidance law, among which the tracking guidance method based on the traditional linear control technology such as PID is widely used. Based on the linear quadratic regulator theory (LQR), it can also achieve better tracking of the standard trajectory . The method of PID control is when the standard trajectory is a h...

AI Technical Summary

Problems solved by technology

The method of PID control is when the standard trajectory is a horizontal straight line, the linear trajectory tracking method can realize the tracking of the standard trajectory, but when the standard trajectory is a complex curve, there will be a considerable tracking error; the LQR method is used to design the tracking control law , it is necessary to perform linearization near the standard trajectory first, and then design the guidance law according to the position error, but when the position error is large, this linearization method will increase the tracking error; the reference point method (RPG, Reference Point Guidance) is the earliest It is used for the tracking and guidance of UAVs to fixed routes. This method has the advantages of fast response and easy implementation, but it does not consider the motion parameters of the target; The relative distance between the man-machine and the target converges slowly; the model predictive control strategy (MPC, Model-based PredictiveControl) has a good tracking effect, but it takes a long time to calculate

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