无人机微波起降系统坐标变换算法

Coordinate Transformation Algorithm of UAV Microwave Takeoff and Landing System

为了实时且精确地获取飞机相对于着陆点的位置坐标,在深入分析机场场地位置几何信息和地面设备制导信息并建立坐标变换测量方程的基础上,提出了一种基于坐标系旋转的旋转坐标迭代解算方法。该算法通过坐标系的旋转消除了飞机纵轴方向上的位移,而后以传统非旋转坐标迭代算法为基础研究实现具体迭代解算过程,建立了分散配置方式下统一实用的坐标变换解算模型。利用该算法对典型场地几何环境下的坐标变换问题进行了仿真,并将仿真结果与传统算法进行对比。结果表明:旋转坐标迭代算法有效改善了传统非旋转坐标迭代算法在收敛速度与精度方面的不足和缺陷,对于获得实时、精确的无人机着陆制导信息具有实用价值。

In order to obtain real-time and precise airplane position relative to the touchdown point,a rotational coordinate iterative algorithm based on coordinate rotation is presented to solve the measurement equations.Through rotating coordinates,the displacement on the vertical axis is eliminated in this algorithm.Then,the concrete iterative process based on the traditional algorithm is achieved.The coordinate transformation model is established.The proposed method is applied to simulating the coordinate transform in the specific airport environment.What is more,the results are compared with the calculation results from the traditional algorithm.The comparison between them shows that the use of the rotational coordinate iterative algorithm can effectively improve the limitation and deficiency of the traditional algorithm in the convergent speed and accuracy.Moreover,the new algorithm is of practical value in acquiring more accurate and real-time guide information.