面向机动目标跟踪的无人机横侧向制导规律

UAV lateral guidance law for tracking of maneuvering target

现有的standoff跟踪制导方法在进行机动目标跟踪时不能同时满足响应速度和稳态精度的要求.对用于航路跟踪的参考点制导法(RPG,Reference Point Guidance)进行改进,推导了无人机(UAV,Unmanned Aerial Vehicle)在跟踪机动目标时的横侧向制导规律.采用二阶非线性微分方程对UAV和目标相对距离的调节过程进行建模,在此基础上分析了改进后RPG的渐近稳定性.仿真结果表明,相比Lyapunov向量场(LVFG,Lyapunov Vector Field Guidance)和模型预测控制(MPC,Model-based Predictive Control)的制导方法,改进RPG的跟踪误差和时间乘以误差绝对值积分(ITAE,Integrated Time Absolute Error)指标均优于LVFG和MPC.因此,所提制导规律能够对机动目标的运动进行有效补偿,并具有更快的响应速度、更高的稳态精度和较好的实时性.

The existing lateral guidance law for standoff target tracking either converges slowly or has a large steady state error when tracking a maneuvering target. The reference point guidance（ RPG） for path following problem was modified as lateral guidance law of unmanned aerial vehicle（ UAV） for tracking a maneuvering target. The convergent process of relative distance between and target was modeled by two-dimensional nonlinear differential equations,and then the asymptotic stability of modified RPG was demonstrated. Simulation shows that,the modified RPG has smaller tracking error and integrated time absolute error（ ITAE） compared to the methods of Lyapunov vector field guidance（ LVFG） and model-based predictive control（ MPC）,thus the proposed guidance law makes an efficient compensation of the motion of maneuvering target,and has higher steady state accuracy and higher real-time performance.