基于单轴光电探测系统的MUAV目标捕获与盘旋跟踪系统

Roll-only Camera Based Target Capture and Tracking MUAV System

研究了基于侧向单轴光电探测系统的微小型无人飞行器(MUAV)捕获、跟踪地面目标的飞行控制方法,提出一种探测器单轴消除视场y向失谐角,MUAV航向控制消除视场x向失谐角的控制方案。采用常规的飞行动力学纵向和侧向运动方程及小干扰线性化方法,并分别对MUAV定高寻航迹段、目标搜索捕获段及盘旋跟踪段进行了MATLAB仿真。分析了侧向突风以及飞机俯仰角变化对视场中x向失谐角的耦合影响,并提出了解决方案。仿真结果验证了所提方案的有效性,其能够满足MUAV持续盘旋跟踪地面目标的飞行任务。

A roll-only camera based micro unmanned aerial vehicle（MUAV）capture and track system is studied.A new control method is designed in this article with which the y axis mismatching angle in the image plane frame is eliminated by the camera roll-only axis,while the x axis mismatching angle in the image plane frame is eliminated by the MUAV heading control loop.Based on normal pneumatic formulation and little disturbance linearization method,three flight states of the MUAV（the flight path following state with fixed height,the target search and capture state and the circle track state）are simulated with a MATLAB program.The effect of sudden side wind and the coupling between an x axis mismatching angle and MUAV pitching is considered,and a solution scheme is proposed.Simulation results show that the new control method is effective and could meet the requirements of MUAV flight while capturing and tracking ground targets.