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Three-dimensional track tracking method for UAV based on adaptive line-of-sight method

A track tracking and unmanned aerial vehicle technology, which is applied in three-dimensional position/course control, vehicle position/route/altitude control, instruments, etc. Complete and other problems, to achieve the effect of improving the lag of switching reference track segments, improving robustness, and simplifying track tracking problems

Active Publication Date: 2022-04-19
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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  • Three-dimensional track tracking method for UAV based on adaptive line-of-sight method
  • Three-dimensional track tracking method for UAV based on adaptive line-of-sight method
  • Three-dimensional track tracking method for UAV based on adaptive line-of-sight method

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Embodiment 1

[0093] 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 .

[0094] Step 1: Input UAV flight performance parameter information, planned reference track information, task information and environmental information.

[0095] 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

[0151] 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.

[0152] Step 1: Input UAV flight performance parameter information, planned reference track information, task information and environmental information.

[0153] 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 track tracking method based on an adaptive line of sight method, and belongs to the technical field of unmanned aerial vehicle track tracking. The realization method of the present invention is as follows: considering the influence of the wind field, the kinematics model of the unmanned aerial vehicle under the condition of wind disturbance is established; according to the corresponding relationship between the radius of the acceptance circle and the included angle of the track segment, an adaptive strategy is designed to calculate the radius of the adaptive acceptance circle, Determine the reference track switching time; establish the adaptive look-ahead distance criterion based on the track tracking error, calculate the adaptive look-ahead distance according to the real-time track tracking error, and obtain the guidance reference angle of the line-of-sight method; establish the track tracking error model, design Based on the state feedback tracking control law, the three-dimensional track tracking control command is obtained through the pole configuration method, and the wind field disturbance item is introduced to modify the designed control law; the control command is input into the autopilot to realize the reference track tracking tracking. The invention can realize fast, accurate and stable tracking of the reference track, and improve the robustness of the tracking control system.

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 Patents(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