固定翼无人机自主着舰分段动作引导策略

doi:10.7527/S1000-6893.2024.31116

Abstract

Abstract:

In order to land a fixed-wing Unmanned Aerial Vehicle （UAV） on a moving platform， serval problems should be addressed. For example， the landing platform moves rapidly， and the UAV has to maintain high speed to generate sufficient lift while it cannot brake in mid-air at will. A segmented guidance strategy is proposed based on action planning. The autonomous shipborne landing process is divided into two stages： transition guidance and approach guidance. In the transition guidance stage， a finite state machine is utilized to guide the fixed-wing UAV from any initial state to a specific distance behind the moving deck. In the approach guidance stage， the action sampling is used to adjust the trajectory in real-time to guide the UAV to touch the deck accurately. Numerical simulation and FlightGear based semi-physical simulation demonstrate that the proposed strategy can effectively guide the fixed-wing UAV from any initial state to the carrier deck with different moving speeds and turbulence， and the landing error is within 2 m.

Key words: fixed-wing UAV, autonomous shipborne landing, guidance strategy, motion planning, transition guidance, approach guidance, semi-physical simulation

CLC Number:

V249.1

Jianjian LIANG, Shoukun WANG, Shaoming HE. Segmented action guidance strategy for autonomous shipborne landing of fixed-wing UAV[J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(13): 531116.

Figures/Tables 29

Fig.1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Fig.14

Table 1

Table 2

Parameters of UAV and planner in simulation

参数	数值	参数	数值
V_min/（m·s^-1）	27	最大下滑角 $γ i$ /rad	-0.07
V_max/（m·s^-1）	40	转弯半径R/m	160
a_min/（m·s^-2）	-1	$Δ t$ /s	0.05
a_max/（m·s^-2）	1	$Δ T$ /s	2
$ω m i n /$ （rad·s^-1）	-0.2	$λ y$	1
$ω m a x /$ （rad·s^-1）	0.2	$λ ψ$	25
$α ψ m i n /$ （rad·s^-2）	-0.2	$λ V$	0.5
$α ψ m a x$ /（rad·s^-2）	0.2	$λ t$	10
V分辨率/（m·s^-1）	0.02	$t r 1$ /s	1.0
$ω$ 分辨率/（rad·s^-1）	0.002	$t r 2$ /s	-0.5

Table 2

Fig.15

Table 3

Fig.16

Table 4

Coordinates of UAV and carrier for landing of UAV on carrier with different yaw angles

航向角/rad	无人机坐标/m	航母x坐标/m
$- π 2$	（227.52，0.09，0.10）	228.75
$- π 4$	（226.23，0.09，0.14）	228.00
0	（230.20，0.08，0.13）	231.75
$π 4$	（226.23，-0.09，0.14）	228.00
$π 2$	（227.52，-0.09，0.10）	228.75

Table 4

Fig.17

Table 5

Fig.18

Table 6

Fig.19

Table 7

Fig.20

Fig.21

Fig.22

References 33

[1]	甄子洋. 舰载无人机自主着舰回收制导与控制研究进展［J］. 自动化学报， 2019， 45（4）： 669-681.
	ZHEN Z Y. Research development in autonomous carrier-landing/ship-recovery guidance and control of unmanned aerial vehicles‍［J］. Acta Automatica Sinica， 2019， 45（4）： 669-681 （in Chinese）.
[2]	金长江，洪冠新. 舰载机弹射起飞及拦阻着舰动力学问题［J］. 航空学报， 1990， 11（12）： 534-542.
	JIN C J， HONG G X. Dynamic problems of carrier aircraft catapult launching and arrest landing［J］. Acta Aeronautica et Astronautica Sinica， 1990， 11（12）： 534-542 （in Chinese）.
[3]	吕永银，闫建国，黄鑫鑫，等. 无人机车载起飞飞控软件设计及仿真［J］. 计算机仿真， 2013， 30（7）： 101-105.
	LV Y Y， YAN J G， HUANG X X， et al. Design of flight control software and simulation of truck-mounted take-off of UAVs［J］. Computer Simulation， 2013， 30（7）： 101-105 （in Chinese）.
[4]	SINGH M， JETLEY P， SINGHAL A， et al. State-dependent Riccati equation-based UAV path following guidance for shipborne net recovery［J］. Unmanned Systems， 2024， 12（4）： 749-761.
[5]	SHI H Y， LU Y F， HOU Z X， et al. 3D Dubins net-recovery path planning for fixed wing UAV［C］‍∥2018 Chinese Control and Decision Conference. Piscataway： IEEE Press， 2018： 604-610.
[6]	李凯. 小型舰载无人机弹射起飞与天钩回收技术研究［D］. 南京：南京航空航天大学， 2019： 1-10.
	LI K. The research of ejection takeoff and skyhook technology of small UAVs［D］. Nanjing： Nanjing University of Aeronautics and Astronautics， 2019： 1-10 （in Chinese）
[7]	李若兰. 小型舰载无人机撞网回收控制技术研究［D］. 南京：南京航空航天大学， 2014： 1-10.
	LI R L. Research on control technology of small UAV based on net recovery［D］. Nanjing： Nanjing University of Aeronautics and Astronautics， 2014： 1-10 （in Chinese）.
[8]	吴赛飞. 基于视觉信息引导的舰载无人机精确着舰技术研究［D］. 南京：南京航空航天大学， 2016： 1-15.
	WU S F. Research on UAV shipborne precise landing system based on visual guidance［D］. Nanjing： Nanjing University of Aeronautics and Astronautics， 2016： 1-15 （in Chinese）.
[9]	HOWARD T M， KELLY A. Optimal rough terrain trajectory generation for wheeled mobile robots［J］. The International Journal of Robotics Research， 2007， 26（2）： 141-166.
[10]	DOLGOV D， THRUN S， MONTEMERLO M， et al. Path planning for autonomous vehicles in unknown semi-structured environments［J］. The International Journal of Robotics Research， 2010， 29（5）： 485-501.
[11]	HOWARD T M， GREEN C J， KELLY A， et al. State space sampling of feasible motions for high-performance mobile robot navigation in complex environments‍［J］. Journal of Field Robotics， 2008， 25（6‍／‍7）： 325-345.
[12]	PIVTORAIKO M， KELLY A. Generating near minimal spanning control sets for constrained motion planning in discrete state spaces［C］‍∥2005 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway： IEEE Press， 2005： 3231-3237.
[13]	LAVALLE S M， KUFFNER J J. Randomized kinodynamic planning‍［C］‍∥Proceedings 1999 IEEE International Conference on Robotics and Automation. Piscataway： IEEE Press， 1999： 473-479.
[14]	OWEN M， BEARD R W， MCLAIN T W. Implementing Dubins airplane paths on fixed-wing UAVs［M］‍∥VALAVANIS K P， VACHTSEVANOS G J. Handbook of unmanned aerial vehicles. Cham： Springer International Publishing， 2015： 1677-1701.
[15]	ASKARI A， MORTAZAVI M， TALEBI H A， et al. A new approach in UAV path planning using Bezier-Dubins continuous curvature path［J］. Proceedings of the Institution of Mechanical Engineers， Part G： Journal of Aerospace Engineering， 2016， 230（6）： 1103-1113.
[16]	FENG Y， ZHANG C， BAEK S， et al. Autonomous landing of a UAV on a moving platform using model predictive control［J］. Drones， 2018， 2（4）： 34.
[17]	WU L Z， WANG C， ZHANG P P， et al. Deep reinforcement learning with corrective feedback for autonomous UAV landing on a mobile platform［J］. Drones， 2022， 6（9）： 238.
[18]	BATTIATO S， CANTELLI L， D’URSO F，et al. A system for autonomous landing of a UAV on a moving vehicle［M］‍∥Image Analysis and Processing-ICIAP 2017. Cham： Springer International Publishing， 2017： 129-139.
[19]	KELLER A， BEN-MOSHE B. A robust and accurate landing methodology for drones on moving targets［J］. Drones， 2022， 6（4）： 98.
[20]	GAUTAM A， SINGH M， SUJIT P B， et al. Autonomous quadcopter landing on a moving target［J］. Sensors， 2022， 22（3）： 1116
[21]	MUSKARDIN T， BALMER G， WLACH S， et al. Landing of a fixed-wing UAV on a mobile ground vehicle［C］‍∥2016 IEEE International Conference on Robotics and Automation. Piscataway： IEEE Press， 2016： 1237-1242.
[22]	FANG X， WAN N， JAFARNEJADSANI H， et al. Emergency landing trajectory optimization for fixed-wing UAV under engine failure： AIAA-2019-0959［R］. Reston： AIAA， 2019.
[23]	STEPHAN J， FICHTER W. Fast generation of landing paths for fixed-wing aircraft with thrust failure： AIAA-2016-1874［R］. Reston： AIAA， 2016.
[24]	WARREN M， MEJIAS L， KOK J， et al. An automated emergency landing system for fixed-wing aircraft： Planning and control［J］. Journal of Field Robotics， 2015， 32（8）： 1114-1140.
[25]	DE LELLIS E， DI VITO V， RUBY M， et al. Adaptive algorithm for fixed wing UAV autolanding on aircraft carrier： AIAA-2013-4585［R］. Reston： AIAA， 2013.
[26]	YOON S， KIM H J， KIM Y. Spiral landing trajectory and pursuit guidance law design for vision-based net-recovery UAV： AIAA-2009-5682［R］. Reston： AIAA， 2009.
[27]	SEDLMAIR N， THEIS J， THIELECKE F. Flight testing automatic landing control for unmanned aircraft including curved approaches［J］. Journal of Guidance， Control， and Dynamics， 2021， 45（4）：726-739
[28]	CHITSAZ H， LAVALLE S M. Time-optimal paths for a Dubins airplane‍［C］‍∥2007 46th IEEE Conference on Decision and Control. Piscataway： IEEE Press， 2007： 2379-2384.
[29]	RYSDYK R. UAV path following for constant line-of-sight： AIAA-2003-6626［R］. Reston： AIAA， 2003.
[30]	OSBORNE J， RYSDYK R. Waypoint guidance for small UAVs in wind： AIAA-2005-6951‍［R］. Reston： AIAA， 2005.
[31]	LIANG J J， WANG S K， WANG B. Online motion planning for fixed-wing aircraft in precise automatic landing on mobile platforms［J］. Drones， 2023， 7（5）： 324.
[32]	DUBINS L E. On curves of minimal length with a constraint on average curvature， and with prescribed initial and terminal positions and tangents［J］. American Journal of Mathematics， 1957， 79（3）： 497-516.
[33]	江驹，王新华，甄子洋，等. 舰载机起飞着舰引导与控制［M］. 北京：科学出版社， 2019： 2.
	JIANG J， WANG X H， ZHEN Z Y， et al. Carrier aircraft take-off and landing guidance and control［M］. Beijing： Science Press， 2019： 2 （in Chinese）.

参数	数值
空机质量/kg	754
最大起飞质量/kg	1 156
最大爬升速度/（m·s^-1）	3.7
最大速度/（m·s^-1）	64.8
巡航速度/（m·s^-1）	40
失速速度/（m·s^-1）	27

侧偏距离/m	无人机坐标/m	航母x坐标/m
-100	（187.78，0.09，0.10）	189.25
-60	（185.93，0.09，0.11）	187.50
-20	（188.48，-0.09，0.11）	190.00
20	（188.48，0.09，0.11）	190.00
60	（185.93，-0.09，0.11）	187.50
100	（187.78，-0.09，0.10）	189.25

初始高度/m	无人机坐标/m	航母x坐标/m
50	（188.27，0.00，0.07）	189.75
60	（188.27，0.00，0.09）	189.75
70	（188.27，0.00，0.11）	189.75
80	（190.66，0.08，0.07）	191.50
90	（206.59，0.08，0.07）	207.50
100	（231.75，0.07，0.15）	233.50

航母速度/（m·s^-1）	无人机坐标/m	航母x坐标/m
3	（136.19，-0.05，0.15）	138.15
6	（271.14，-0.08，0.16）	273.00
9	（421.24，-0.09，0.17）	423.00
12	（628.85，-0.09，0.17）	630.60
15	（943.91，-0.09，0.18）	945.75

航母速度/ （m·s^-1）	无人机坐标/m	航母坐标/m
航母速度/ （m·s^-1）	无人机坐标/m	x坐标	z坐标
3	（140.70，-0.05，-1.44）	141.60	-1.49
6	（277.08，-0.08，-1.14）	278.40	-1.17
9	（427.01，-0.09，-1.30）	428.85	-1.51
12	（626.60，-0.09，1.66）	628.20	1.51
15	（943.90，-0.09，1.49）	945.75	1.43
18	（1 415.00，-0.09，-0.63）	1 417.50	-1.04

Segmented action guidance strategy for autonomous shipborne landing of fixed-wing UAV

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 29

References 33

Related Articles 15

Recommended Articles

Metrics

Comments

[1]	Yifeng WANG, Yiming PENG, Long LI, Xiaohui WEI, Hong NIE. DQN-based active arrest and recovery technique for UAVs [J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(12): 231448-231448.
[2]	Ziyi ZONG, Xin DONG, Zhan TU, Jinwu XIANG. Countermeasures against uncooperative drones based on swarm encirclement [J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(11): 531349-531349.
[3]	Hongyu YIN, Yu WU, Tianjiao LIANG. Cooperative path planning for patrol coverage of fixed wing UAV [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(6): 328944-328944.
[4]	Qian ZHANG, Guanwei YAN, Qin NIE, Ruihai CHEN, Jianing LIU. Aircraft-missile cooperative guidance method based on trajectory numerical optimization of long-range air-to-air missiles [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(17): 530138-530138.
[5]	Jiayu HAO, Yiming PENG, Xiaohui WEI, Hui MA. Design and analysis of active control arresting device based on MR technology [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(12): 428818-428818.
[6]	Bochen LI, Shuangcheng NIU, Lu DING, Chenggang WANG, Lei SONG, Yuqiang JIN. Unmanned group resilient motion planning for attacking sea surface targets [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(12): 329455-329455.
[7]	Guangquan DUAN, Guoping LIU. Adaptive prescribed control of position and attitude of combined spacecraft based on fully actuated system approach [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 628837-628837.
[8]	Qingrui ZHANG, Yunyun LIU, Huijie SUN, Bo ZHU. Robust cooperative tracking control for close formation of fixed⁃wing unmanned aerial vehicles [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 629233-629233.
[9]	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.
[10]	Yongxing TANG, Zhanxia ZHU, Hongwen ZHANG, Jianjun LUO, Jianping YUAN. A tutorial and review on robot motion planning [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(2): 26495-026495.
[11]	Zikang SU, Haitong CHEN, Chuntao LI, Zhuolin XING, Honglun WANG. Coordinating motion planning for towed cable system in UAV aerial recovery with unmatched envelope [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(10): 327377-327377.
[12]	ZHOU Wei, MA Peiyang, GUO Zheng, WANG Daoping, ZHOU Ruisun. Research of combined fixed-wing UAV based on wingtip chained [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(9): 325946-325946.
[13]	XIANG Xiaojia, YAN Chao, WANG Chang, YIN Dong. Coordination control method for fixed-wing UAV formation through deep reinforcement learning [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(4): 524009-524009.
[14]	QIN Ripeng, XU Kun, CHEN Jiawei, HAN Liangliang, DING Xilun. Design and motion planning of wheel-legged hexapod robot for planetary exploration [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(1): 524244-524244.
[15]	ZHANG Chaofan, DONG Qi. Adaptive-gain sliding mode control for fixed-wing UAVs with input saturation [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(S1): 723755-723755.