无人作战飞行器编队协同攻击轨迹规划研究

Study of Trajectory Planning for UCAV Formation Cooperative Attack

研究了无人作战飞行器(UCAV)编队协同对地攻击轨迹规划问题。基于单机运动学/动力学方程、编队成员相对运动模型和威胁模型,结合平台初、末端约束条件,建立了编队协同对地攻击轨迹规划数学模型;提出了综合考虑单机威胁、任务时间、编队等效碰撞次数及执行指令时间误差的综合目标函数,形成最优控制方法的求解框架。为使编队整体轨迹优化,将编队任务轨迹分段。采用hp自适应伪谱法对构建的模型进行解算,得到编队攻击轨迹。数字仿真结果表明:规划的编队攻击轨迹满足约束要求,证明了所构建的编队攻击轨迹规划模型的有效性。

The issue of formation attack trajectory planning for cooperative air-to-ground attack of unmanned combat aerial vehicles （UCAVs） is investigated. A formation trajectory planning model is built based on single UCAV three degrees of freedom equations, relative movement model and UCAV initial and terminal states constraints. The cost function is constructed, which consists of single UCAV threat and task time, number of equivalent collisions and time error of executing command. The solution framework of optimal control method is formed based on the formation model and cost function. The whole trajectory is optimized by dividing it into three segments, and every segment is resolved by hp adaptive pseudospectral method. The simulation results show that the optimized formation attack trajectory satisfies the constraints, and the formation attack trajectory planning model is provn to be effective.