基于自适应视线法的无人机三维航迹跟踪方法

李辉; 龙腾; 孙景亮; 徐广通

doi:10.7527/S1000-6893.2021.26105

航空学报 >

2022 , Vol. 43 >Issue 9: 326105 - 326105

DOI: https://doi.org/10.7527/S1000-6893.2021.26105

电子电气工程与控制

基于自适应视线法的无人机三维航迹跟踪方法

李辉 ,
龙腾 ,
孙景亮 ,
徐广通

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1. 北京理工大学宇航学院, 北京 100081;
2. 飞行器动力学与控制教育部重点实验室, 北京 100081;
3. 清华大学精密仪器系, 北京 100084

收稿日期: 2021-07-14

修回日期: 2021-08-04

网络出版日期: 2021-10-21

基金资助

国家自然科学基金(51675047, 62003036);中国博士后科学基金(2019TQ0037)

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Adaptive line-of-sight method for 3D path following of UAVs

LI Hui ,
LONG Teng ,
SUN Jingliang ,
XU Guangtong

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1. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China;
2. Key Laboratory of Dynamics and Control of Flight Vehicle, Ministry of Education, Beijing 100081, China;
3. Department of Precision Instrument, Tsinghua University, Beijing 100084, China

Received date: 2021-07-14

Revised date: 2021-08-04

Online published: 2021-10-21

Supported by

National Natural Science Foundation of China (51675047, 62003036); China Postdoctoral Science Foundation (2019TQ0037)

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摘要

针对无人机(UAV)三维航迹跟踪过程中由于参考航迹切换导致的跟踪误差大、收敛速度慢等问题, 提出了基于自适应视线法(ALOS)的航迹跟踪控制方法。设计自适应接纳圆策略, 根据航迹段夹角自适应调节航迹点接纳圆半径, 提高参考航迹切换时无人机跟踪精度。设计水平与高度跟踪误差反馈的前视距离自适应调整策略, 根据跟踪误差变化实时调整跟踪目标方向, 引导无人机快速稳定趋近参考航迹。基于视线法引入自适应接纳圆和前视距离策略, 提出自适应视线法。通过定制基于自适应视线法的状态反馈跟踪控制律, 实现对参考航迹稳定跟踪。仿真结果表明: 提出的自适应视线法相比基于固定接纳圆和固定前视距离的经典视线法能够有效减小跟踪误差, 提高收敛速度; 相比于非线性导引法, 自适应视线法在跟踪精度和收敛速度上更具有优势。

关键词： 无人机(UAV); 三维航迹跟踪; 视线法(LOS); 自适应接纳圆策略; 自适应前视距离策略

本文引用格式

李辉 , 龙腾 , 孙景亮 , 徐广通 . 基于自适应视线法的无人机三维航迹跟踪方法[J]. 航空学报, 2022 , 43(9) : 326105 -326105 . DOI: 10.7527/S1000-6893.2021.26105

Abstract

During the process of 3D path following of Unmanned Aerial Vehicles (UAVs), there exist the issues of big following error and slow rate of convergence when the reference path is switched. An Adaptive-Line-of-Sight (ALOS)-based following control method is proposed. To improve the accuracy of path following when the reference path is switched, an adaptive acceptance circle strategy is customized by setting the different acceptance circles automatically according to the angle between two reference path segments. An adaptive lookahead distance strategy based on the feedback of horizontal and vertical following errors is proposed by automatically setting the target direction in real time according to the following errors, so as to guide the UAV converging to the reference path quickly and steadily. A state feedback following control law based on the ALOS method, in which is introduced the adaptive acceptance circle strategy and adaptive lookahead distance strategy, is designed to guarantee that the UAV will track the reference path stably. The simulation results illustrate that the method proposed can obtain smaller following error and faster rate of convergence compared to the classic line-of-sight methods based on fixed acceptance circle and look ahead distance. Furthermore, a comparison with the nonlinear guidance law demonstrates better following accuracy and convergence speed of the proposed method.

Key words： Unmanned Aerial Vehicle (UAV); three-dimensional path following; Line-of-Sight (LOS); adaptive acceptance circle strategy; adaptive lookahead distance strategy

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