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Unmanned aerial vehicle interception method against low, small and slow targets

A UAV and target technology, applied in UAV interception against low, small and slow targets, in the field of UAV interception, it can solve the problems of difficult to accurately achieve interception, large tracking error, excessive overload of terminal demand, etc., to achieve interception The effect of short trajectory length, short interception time and fast interception speed

Active Publication Date: 2021-07-20
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] At present, UAVs that intercept low-slow and small targets mostly use traditional PID control algorithms and proportional guidance methods, but low-slow and small targets are different from traditional moving targets. Due to their small mass and slow speed, they have flexible turning, The characteristics of strong maneuverability make the control algorithm of the transmission have many defects: the traditional PID control algorithm can achieve good tracking of the trajectory when the target trajectory is a horizontal line, but when the low-slow and small target moves in a complex curve, it will appear Considerable tracking error; the traditional proportional guidance method overloads the terminal demand too much. With the improvement of the maneuverability of low-speed and small targets and the diversification of maneuvering methods, the performance of the traditional proportional guidance method has been difficult to accurately realize the performance of low-speed and small targets. interception at the end of a small target

Method used

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  • Unmanned aerial vehicle interception method against low, small and slow targets
  • Unmanned aerial vehicle interception method against low, small and slow targets
  • Unmanned aerial vehicle interception method against low, small and slow targets

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0084] Carry out a simulation experiment, set the coordinates of the drone's take-off point (-50,0,50), the coordinates of the virtual shift point (0,20,35), and the initial coordinates of the target point (0,0,30). The initial speed of the UAV is 0m / s, and the target makes a clockwise "8" movement at 10m / s.

[0085] The UAV identifies the target through the photoelectric pod and its control module, and calculates the overload command through the following formula (1):

[0086]

[0087] Among them, V r , It is obtained by real-time calculation of the photoelectric pod and its control module, and the scale factor N 1 , N 2 It can be obtained by the following formula (2):

[0088]

[0089] The zero-controlled off-target amount Z 2 It can be obtained by the following formula (3):

[0090]

[0091] In the present invention, t go,1 , t go,2 Obtained by the following formula (4):

[0092]

[0093] Where N=3, R represents the relative distance between the UAV an...

experiment example 1

[0104] Comparing the running track of the unmanned aerial vehicle in Example 1 and Comparative Example 1, Embodiment 1 and Comparative Example 2, the result is as follows figure 2 , image 3 As shown, all three can achieve the interception of the target.

[0105] From figure 2 , image 3 It can be seen from the figure that the trajectories intercepted by the UAV in Comparative Example 1 and Comparative Example 2 have a relatively large curvature, especially in Comparative Example 1, the UAV followed the target for nearly a circle before realizing the interception, while the implementation In Example 1, the trajectory intercepted by the UAV is relatively straight, the trajectory length is short, the time it takes to meet the target is less, and the interception time is short.

[0106] Comparative example 1 and comparative example 1, embodiment 1 and the relative position change curve of target in embodiment 1 and comparative example 2, its result is as follows Figure 4 ,...

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Abstract

The invention discloses an unmanned aerial vehicle interception method against low, small and slow targets. The method comprises the following steps: S1, obtaining target motion state information; S2, resolving an overload instruction; s3, controlling the unmanned aerial vehicle to fly according to the overload instruction, and intercepting the target, wherein in the step S2, the guidance process is divided into two stages by setting a virtual shift change point, and different control algorithms are adopted in the two stages to solve an overload instruction. The unmanned aerial vehicle interception method has the advantages of relatively straight interception track, short interception track length, short interception time and the like.

Description

technical field [0001] The invention relates to an intercepting method of an unmanned aerial vehicle, in particular to an intercepting method of an unmanned aerial vehicle against low, small and slow targets, and belongs to the field of unmanned aerial vehicle control. Background technique [0002] "Low, slow and small" targets (LSST) refer to small aircraft and airborne objects that have all or part of the characteristics of low-altitude, ultra-low-altitude flight (flight altitude below 1000m), flight speed less than 200km / h, and difficult to be detected by radar. Low, slow and small aircraft Aircraft with a flying altitude of less than 1,000 meters, a flight speed of less than 200 kilometers per hour, and a radar reflection area of ​​less than 2 square meters. Since the "low, slow and small" targets cover a wide range (including small and medium-sized aircraft, helicopters, gliders, Hot air balloons, drones and other general aviation equipment and aviation sports equipment...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/107
Inventor 宋韬章成林德福吴则良王江陶宏
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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