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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

Active Publication Date: 2021-07-16
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, for different track segment angles, the fixed acceptance circle radius will affect the tracking performance of the UAV when the reference track segment is switched. The minimum turning radius of the UAV is used as the acceptance circle radius. When the track segment angle is small , the UAV will lag behind in changing the heading and pitch angles, resulting in a large error in tracking the next segment of the track; incomplete tracking

Method used

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

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Embodiment 1

[0092] Such as figure 1 As shown, the UAV three-dimensional track tracking method based on the adaptive line-of-sight method disclosed in this embodiment is applicable to the three-dimensional track tracking control problem of the UAV. In order to verify the effectiveness and robustness of the proposed method, a numerical simulation experiment of UAV three-dimensional track tracking without wind field disturbance is carried out. The simulation hardware is Intel Core 7-6700 CPU 3.40GHz16.0GB memory, and the simulation environment is MATLAB .

[0093] Step 1: Input UAV flight performance parameter information, planned reference track information, task information and environmental information.

[0094] In this example, set the drone's flight true speed to V a =30m / s, minimum turning radius R min =50m, maximum acceleration a in horizontal and vertical directions ymax =V a 2 / R min =18m / s 2 , a zmax =0.3g=2.94m / s 2 . The starting position of the UAV is [0m, -50m, 0m], a...

Embodiment 2

[0150] Such as figure 1 As shown, the UAV three-dimensional track tracking method based on the adaptive line-of-sight method disclosed in this embodiment is applicable to the three-dimensional track tracking problem of the UAV under the condition of wind field disturbance. In order to further verify the anti-jamming ability of the proposed method, a numerical simulation test of UAV three-dimensional track tracking under wind disturbance is carried out. The simulation hardware is Intel Core 7-6700CPU 3.40GHz 16.0GB memory, and the simulation environment is MATLAB.

[0151] Step 1: Input UAV flight performance parameter information, planned reference track information, task information and environmental information.

[0152] In this example, set the drone's flight true speed to V a =30m / s, maximum acceleration a in horizontal and vertical directions ymax =18m / s 2 ,a zmax =2.94m / s 2 . The starting position of the UAV is [0m, -50m, 0m], and the initial track deviation and tr...

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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.

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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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 龙腾李辉孙景亮周桢林李俊志
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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