Unmanned aerial vehicle three-dimensional flight path tracking method based on adaptive sight line method

A track tracking and UAV technology, which is applied in three-dimensional position/channel control, vehicle position/route/altitude control, non-electric variable control, etc. Incomplete track tracking and other problems, to achieve the effect of improving the delay of switching reference track segments, improving robustness, and simplifying track tracking problems
CN113126644AActive Publication Date: 2021-07-16BEIJING INSTITUTE OF TECHNOLOGYGY
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
BEIJING INSTITUTE OF TECHNOLOGYGY
Publication Date
2021-07-16

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Abstract

The invention discloses an unmanned aerial vehicle three-dimensional flight path tracking method based on a self-adaptive sight line method, and belongs to the technical field of unmanned aerial vehicle flight path tracking. The method comprises the following steps: considering the influence of a wind field, and building an unmanned aerial vehicle kinematics model under a wind disturbance condition; designing a self-adaptive strategy according to the corresponding relation between the radius of the acceptance circle and the included angle of the track segment, calculating the radius of the self-adaptive acceptance circle, and determining a reference track switching moment; establishing a foresight distance adaptive criterion based on the track tracking error, and calculating an adaptive foresight distance according to the real-time track tracking error to obtain a sight line method guide reference angle; establishing a flight path tracking error model, designing a tracking control law based on state feedback, obtaining a three-dimensional flight path tracking control instruction through a pole assignment method, and introducing a wind field disturbance term to correct the designed control law; and inputting the control instruction into the autopilot to track the reference track. According to the invention, the reference track can be tracked quickly, accurately and stably, and the robustness of a tracking control system is improved.
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Description

technical field

[0001] The invention relates to a method for tracking a three-dimensional track of an unmanned aerial vehicle based on an adaptive line-of-sight method, and belongs to the technical field of track tracking of an unmanned aerial vehicle. Background technique

[0002] With the rapid development of intelligence and integration, UAVs have been widely used in military and civilian fields such as emergency rescue, aerial photography, traffic control, intelligence reconnaissance, and real-time monitoring. When the UAV performs a predetermined mission, considering the threats, obstacles and terrain in the real mission environment, it is necessary for the flight control system to cooperate to achieve accurate tracking of the planned trajectory and avoid problems such as deviation from the reference trajectory or even collision leading to mission failure. Therefore, in the related research of UAV, reliable tracking and planning trajectory is the basis for UAV to comple...

Claims

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