航空学报 > 2014, Vol. 35 Issue (6): 1684-1693   doi: 10.7527/S1000-6893.2013.0470

面向协同standoff跟踪问题的无人机制导律

王树磊1, 魏瑞轩1, 郭庆1, 蔚文杰2   

  1. 1. 空军工程大学 无人机运用工程系, 陕西 西安 710038;
    2. 空军指挥学院 作战仿真实验室, 北京 100097
  • 收稿日期:2013-09-04 修回日期:2013-11-15 出版日期:2014-06-25 发布日期:2013-12-04
  • 通讯作者: 魏瑞轩,Tel.:029-84787672 E-mail:rxwei369@sohu.com E-mail:rxwei369@sohu.com
  • 作者简介:王树磊男,博士研究生。主要研究方向:无人机导航、制导与控制。 E-mail:wangshulei2009@gmail.com;魏瑞轩男,博士,教授,博士生导师。主要研究方向:飞行器控制理论与应用。Tel:029-84787672 E-mail:rxwei369@sohu.com;郭庆男,博士,讲师。主要研究方向:无人机导航、制导与控制。 E-mail:qingguo126@gmail.com蔚文杰男,博士研究生。主要研究方向:无人机作战仿真技术。 E-mail:wenjiewei2009@sina.com
  • 基金资助:

    航空科学基金(20135896027)

UAV Guidance Law for Coordinated Standoff Target Tracking

WANG Shulei1, WEI Ruixuan1, GUO Qing1, WEI Wenjie2   

  1. 1. UAV Application Engineering Department, Air Fore Engineering University, Xi'an 710038, China;
    2. Combat Simulation Experimental Lab, Air Fore Command College, Beijing 100097, China
  • Received:2013-09-04 Revised:2013-11-15 Online:2014-06-25 Published:2013-12-04
  • Supported by:

    Aeronautical Science Foundation of China(20135896027)

摘要:

针对多无人机(UAV)协同standoff跟踪问题,提出了UAV的横侧向和纵向制导律。对参考点制导(RPG)进行改进,作为UAV的横侧向制导律。然后,采用一组非线性微分方程对UAV和目标相对距离的调节过程进行建模,在此基础上证明了改进RPG的渐近稳定性,并推导了RPG参数与系统性能的关系,为RPG参数的选取提供了依据。最后,给出了UAV的纵向制导律,并分析了其渐近稳定性。仿真结果表明,改进RPG的跟踪误差和时间乘以误差绝对值积分(ITAE)指标均优于Lyapunov向量场制导(LVFG)和模型预测控制(MPC),故改进RPG具有更快的响应速度和更高的稳态精度。

关键词: 无人机, 非线性, 渐近稳定性, standoff跟踪, 制导

Abstract:

A lateral and longitudinal guidance law of unmanned aerial vehicles (UAVs) for coordinated standoff target tracking is proposed. The reference point guidance (RPG) is modified as the lateral guidance law of the UAV, and the convergence process of the relative distance between the UAV and the target is modeled by nonlinear differential equations. The asymptotic stability of the modified RPG is demonstrated based on this nonlinear system, and then the relationship between the RPG parameter and system performance is derived as the basis for parameter selection. Finally, a longitudinal guidance law is provided, and its asymptotic stability is demonstrated. According to simulations, the tracking error and integrated time absolute error (ITAE) of the modified RPG are smaller than those obtained from Lyapunov vector field guidance (LVFG) and model-based predictive control (MPC). Thus the modified RPG possesses faster response speed and higher steady state accuracy than LVFG and MPC.

Key words: unmanned aerial vehicles, nonlinearity, asymptotic stability, standoff tracking, guidance

中图分类号: