移动威胁下的无人机三维航迹规划

Three-Dimension Path Planning for Unmanned Aerial Vehicle Under Moving Threat

针对移动威胁下的无人机三维航迹规划问题,采用自适应卡尔曼滤波算法,对移动威胁的状态信息进行了预测,依据其航迹方位角、航迹倾斜角与视线角之间的关系,建立了航迹角控制数学模型,并提出了移动威胁下基于参数调整的航迹规划算法.仿真结果表明,该算法能够保证无人机有效地躲避空中移动威胁,并提高了其规避移动威胁的快速性.

In this paper, the three-dimension path planning for unmanned aerial vehicle under moving threat was studied. First, the state information of moving threat was predicted by adaptive Kalman filter. According to the relation between heading angle, flight path angle with line obsight angles, a mathemati cal model for controlling track angle was established and a path planning algorithm was presented based on parameter adjustment. Simulations show that the algorithm can assure unmanned aerial vehicle to avoid the moving threat efficiently and quickly.