基于改进RPG方法的MUAVs协同目标跟踪
收稿日期: 2015-07-10
修回日期: 2015-10-30
网络出版日期: 2015-11-03
基金资助
中国博士后科学基金(2014M560877)
MUAVs coordinated standoff target tracking by improved RPG method
Received date: 2015-07-10
Revised date: 2015-10-30
Online published: 2015-11-03
Supported by
China Postdoctoral Science Foundation (2014M560877)
多无人机(MUAVs)协同Standoff目标跟踪制导律由保持距离的横侧向制导律和保持相对相位角的纵向制导律组成。无人机(UAV)进行Standoff目标跟踪的横侧向制导律采用参考点制导(RPG)方法。针对UAV在基于RPG方法的制导律下存在参考视线与相对速度方向夹角需要保持为锐角、转弯速率在UAV运动方向远离目标情况下太小的不足,提出了改进RPG方法。设计了基于改进RPG方法的MUAVs协同Standoff目标跟踪横侧向制导律和纵向制导律,分析了制导律的稳定性和收敛性,并验证了改进方法的可行性。采用原始RPG方法和改进RPG方法对UAV分别跟踪静止目标和跟踪运动目标进行仿真的结果表明,UAV处于任意初始位置及飞行方向都能快速进入到期望飞行轨迹,应用改进RPG方法可使UAV围绕目标顺时针飞行或者逆时针飞行,验证了改进RPG方法比原始RPG方法的效率更高。
关键词： 多无人机; Standoff跟踪; 制导; 协同; 目标跟踪
赵长春 , 梁浩全 , 祝明 , 武哲 , 娄文杰 . 基于改进RPG方法的MUAVs协同目标跟踪[J]. 航空学报, 2016 , 37(5) : 1644 -1656 . DOI: 10.7527/S1000-6893.2015.0294
The guidance law of multiple unmanned aerial vehicles (MUAVs) for coordinated standoff target tracking consists of two parts, the lateral guidance law which is used for keeping distance with target and longitudinal guidance law which is used for keeping relative phase angle among MUAVs. Reference point guidance (RPG) method could be used for standoff target tracking, but there are some imperfections by this method, e.g., the included angle between UAV's reference line and relative velocity should be acute angle, the turning rate is too small when UAV flies away from target. The improved RPG method is proposed based on the imperfections of the RPG method. The lateral and longitudinal guidance laws of MUAVs for coordinated standoff target tracking are designed, the stability and convergence are analyzed, and the feasibility of this method is demonstrated. Some situations of UAV encircling static target and encircling moving target are simulated separately by the improved RPG method and the original RPG method. By the improved RPG method, UAV could fly to the desired path as fast as it can when it is at arbitrary initial position and in flight direction, and the improved RPG method has higher efficiency than the original RPG method when UAV flies clockwise or counter-clockwise encircling target.
Key words： MUAVs; standoff tracking; guidance; coordinated; target tracking
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