无人机伞降定点回收技术研究

Study on Assigned Point Parachute Recovery of UAV

针对无人机伞降定点回收传统方法中存在精度低、鲁棒性差的缺点,总结并研究了需要解决的三个关键问题:机伞系统建模,风场估计和定点回收策略,重点研究了其中的建模问题和控制策略,提出了系统解决方案。在机伞系统建模中,引入了弹性伞绳模型,从而可以正确反映伞降过程中机体姿态和伞绳拉力;在风场估计中,使用卡尔曼滤波进行风速和风向的估计;在回收策略中,着重考虑了对于风场扰动的鲁棒性和回收策略的工程可实现性。在考虑风场不确定性和随机导航误差的情况下,将提出的方案应用于某小型无人机,进行蒙特卡洛仿真试验,得到伞降圆概率误差为8.23m,证明该方案相对于传统方法鲁棒性和回收精度都有大幅提高。

Three key issues were conclued by analyzing the process of assigned point parachute recvoery of UAV： modeling of UAV - Parachute system, estimation of wind field and strategy of assigned point recovery, in which sys- tem modeling and recovery strategy were researched mainly, systematic solution was proprosed and apllied to a small UAV. Stretchiness of the rope was introduced to reflect the attitude of UAV in the modeling process, and Kalman Fil- ter was used to estimate the wind field. In the control strategy, the realizability and robustness of wind - field were mainly taken account. Taking uncertainty of wind field and random navigation error into consideration, Monte - Carlo simulation was performed for 30 times, and the Circular Error Probablity（CEP） was 8. 23m, which reveals the satis- factory accuracy and robustness of the solution proposed.