无人机航迹规划中的发动机约束条件

Engine constraints in UAV’s 3-D route planning

将无人机发动机的性能转化为约束条件进行航迹规划,减小了航迹跟踪阶段的航迹跟踪误差.分析了发动机性能与航迹规划约束条件之间的关系,给出了发动机功率与最大爬升角、最大转弯角、航程与续航时间之间的转换公式,建立了最大转弯角与最小航迹长度之间的数学联系.仿真结果表明,根据发动机性能得到的不同约束条件能够规划出适合不同无人机的三维航迹.

The UAV＇s engine performance is transformed into constraints in order to plan route, which＇reduces the route tracking error. The relationships between the engine performances and the route planning constraints are analyzed. The transfer formulae between the engine power and the maximum chlimbing angle, the maximum turing angle, the range or the endurance are given. The mathematical connection between the maximum turing angle and the minimum route route length is established. The simulation results show that the UAV＇s 3-D route can be planned according to the different constraints which are transformed from the engine performances.