固定翼集群无人机空中模拟对接技术

doi:10.7827/S1000-6893.2021.26539

Abstract

Abstract:

Autonomous aerial refueling technology is of great significance for improving the endurance of Unmanned Aerial Vehicle （UAV）， expanding the combat radius， increasing the weight of the payload， and enhancing strategic deployment. It is an essential technology for future intelligent clustering UAV systems. In this paper， we study the related aerial simulation docking technologies and strategies of the fixed-wing clustering UAVs for the simulation docking race of UI⁃STRIVE. First， considering the characteristics of fast speed and high formation density of the clustering UAVs， we design the aerial simulation docking pipeline of the clustering UAV. The shortest time pursuit scheme is also designed based on the Dubins path， and the nonlinear guidance law is used for route tracking. Second， we design a set of weak classifiers to classify the targets based on the prior information of the simulation drogue， and the detection process is accelerated by cascading these classifiers. Third， for the precise docking stage， we design a strategy for precise docking along the course angle， and compute the visual guidance parameters by integrating the attitudes prior of UAV and the size of the simulation drogue. We also develop a corresponding fixed-wing clustering UAVs system， and participate in the 2021 simulation docking race of UI⁃STRIVE in a formation of 4 UAVs. Results demonstrate the feasibility and reliability of the proposed fixed-wing clustering UAVs system and simulation docking technologies.

Key words: aerial refueling, fixed-wing UAV, clustering UAVs, path planning, UI-STRIVE

CLC Number:

V323.18

Yong XU, Hongtao YAN, Tao JIA, Yue MA, Zehua DENG, Duoneng LIU. Aerial simulation docking technology of fixed-wing clustering UAVs[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(5): 326539-326539.

Figures/Tables 18

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距离/m	测量误差均值/m
6	0.048
9	0.052
12	0.057
15	0.059
20	0.093

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Aerial simulation docking technology of fixed-wing clustering UAVs

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