空靶固定航路跟踪算法设计与实现

doi:10.3969/j.issn.1009-086x.2018.03.021

摘要/Abstract

摘要： 针对控制空中靶标沿给定顺序衔接直线段轨迹供靶飞行问题,提出一种跟踪预置顺序航路点的导航控制算法。该算法利用最大侧向可用过载确定空靶最小转弯半径,推算空靶前向探测距离,提取空靶速度偏差角和航线偏差角并输出至PID飞控系统,使空靶沿预定轨迹飞行的同时高度及倾斜保持稳定。某型飞控系统数字仿真结果表明本算法能很好地控制空靶跟踪单调顺时针或单调逆时针衔接的预置航迹。

关键词: 空靶, 固定航路, 导航算法, 控制算法, 设计, 实现

Abstract: A navigation and control method for tracing preset sequential airway points is proposed for the problem that the UAV is controlled to fly with the specified sequential line path. The minimum turning radius is determined based on the maximum available normal overload. The forward searching distance is calculated. The UAV velocity deviation angle and deviation angle of course line are calculated and input into the subsequent PID flight control system. The UAV can fly with preset path stably. Numerical simulation results show that the mothed can control UAV effectively to fly with clockwise or anti clockwise paths.

Key words: UAV, fixed-route, navigation method, control algorithm, design, implememtation

中图分类号:

丁军辉. 空靶固定航路跟踪算法设计与实现[J]. 现代防御技术, 2018, 46(3): 139-145.

DING Jun-hui. Design and Implementation of UAV Fixed-Route Tracking Method[J]. Modern Defense Technology, 2018, 46(3): 139-145.

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