大圆航线导航与控制律设计

Design of Navigation and Control Law for Great Circle Flight Path

随着无人机(UAV)应用范围的扩大,要求无人机能精确跟踪预定航线。预定的飞行任务可以有两种规划方式,一是近似在当地切平面上的直线或曲线;二是飞行距离较长时在地球表面的大圆航线。第二种规划相对复杂,研究较少,因此,介绍了某型无人机的动力学模型,提出了一种全新的大圆航线导航解算算法,设计了大圆导航控制律,此外,还分析了常值风及突风干扰对导航的影响。经计算机仿真验证和部分的实际飞行试验结果表明:与预定航线的距离偏差较小,航迹精度较高,新算法及设计较好地满足了实际大圆航线飞行要求。

With increasing the application of the Unmanned Air Vehicles （UAV）, the precision trajectory of UAV is critical. Two kinds of flight courses can be scheduled. One is straight line or curve on the local plane. The other is the great circle flight path on the earth surface. The great circle flight path studies little because of complex comparatively, so, in this paper, the dynamical model of an UAV is presented, the navigation algorithm of great circle flight path is derived in detail, and the law of control is designed. In addition, the effect of navigation under the gust disturbance is analyzed. The results of simulation show that the navigation precision is higher and the cross-distance deviation is smaller. The new algorithm and designed meets the need of actual great circle flight path.