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A collaborative guidance method based on the principle of leader-followers

A follower and leader technology, applied in the control/regulation system, non-electric variable control, 3D position/channel control, etc., can solve the problem of reaching the target position, unable to fly the aircraft group, etc., to achieve a stable flight path and system stability The effect of good and simplified control process

Active Publication Date: 2022-07-19
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In addition, sometimes the target that the aircraft group needs to approach is in a moving state, and the established guidance law will not allow the aircraft group to reach the moving target position

Method used

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  • A collaborative guidance method based on the principle of leader-followers
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  • A collaborative guidance method based on the principle of leader-followers

Examples

Experimental program
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Effect test

Embodiment 1

[0121] The simulation experiments are set as follows: three aircraft form a cooperative guidance system, one of which is a pilot aircraft and two are following aircraft. The aircraft is flying horizontally in the negative direction of the x-axis, the initial speed of the pilot aircraft is 200m / s, and the initial line of sight angle is 45°. The initial position of the pilot aircraft is 0, the position vector L between the predetermined position of the following aircraft and the pilot aircraft is 100m,

[0122] During the flight, the distance between the following aircraft and the leading aircraft is always 100±10m. The positional relationship between the aircraft in the guidance terminal and the target is:

[0123] location information Target follow the aircraft 1 Pilot aircraft follow the aircraft 2 Horizontal position / m 1966.43 2063.52 1964.56 1866.28 vertical position / m 2828.43 2825.27 2826.42 2824.42

[0124] The simulation results a...

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Abstract

The invention discloses a collaborative guidance method and system based on the principle of a leader and a follower. By setting up a pilot aircraft and a follower aircraft, the pilot aircraft conducts guidance, and the follower aircraft follows the pilot aircraft to realize collaborative guidance. The pilot aircraft passes through the guidance process. Build a neural network to obtain guidance parameters. The cooperative guidance method and system based on the leader-follower principle of the present invention has many advantages, such as simplifying the control process of multiple aircraft during guidance, smooth and efficient flight path in the guidance process, and good system stability. .

Description

technical field [0001] The invention relates to a guidance method, in particular to a collaborative guidance method based on the principle of a leader following a follower, and belongs to the field of unmanned aerial vehicle control. Background technique [0002] Nowadays, unmanned aerial vehicles have been widely used in engineering practice. In the process of swarm flight of the aircraft, it needs to be controlled cooperatively. [0003] When multiple aircraft form an aircraft group for long-distance flight (medium guidance), due to the need to simultaneously control guidance, attitude and aircraft coordination, the amount of calculation will increase significantly, which requires a relatively simple and efficient coordination. Guidance method to conduct long-distance formation flight guidance for multiple aircraft. [0004] In addition, sometimes the target that the aircraft group needs to approach is in motion, and using the established guidance law will not make the a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 刘佳琪王伟林德福王江王辉林时尧
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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