无人机气流振动下飞行航迹规划建模仿真

Modeling and Simulation of Flight Path Planning under the Airflow Vibration of Unmanned Aerial Vehicle(UAV)

由于气流振动下的周围环境因素发生随机性变化,使得航迹数据特征与航迹参数产生较强的关联性。传统的无人机航迹建模方法,在关联性下需要大规模的采集航迹数据致使数据特征过多、计算量增大,导致建模精确度低的问题。提出一种采用R树模型的XML航迹参数挖掘和时空阈值相结合的无人机航迹建模方法,首先对无人机气流振动下的航迹参数利用基于树模型的XML方法进行管理以便于后期建模时的索引,然后引人时空阈值因子根据无人机航迹在阈值范围内的运动趋势建立数学模型。仿真结果表明,提出方法能够较为准确的对无人机在气流振动下的航迹进行数学建模,仿真计算结果与飞行实验数据比对一致性好,为无人机飞行航迹建模优化提供了参考。

Due to the random changes of the surrounding environment factors under the airflow vibration,the data characteristics of flight path and the flight path parameters will produce strong correlation.Traditional modeling method for flight path of unmanned aerial vehicle（uav）,under this relation,needs large-scale acquisition flight path data,leading to overmuch data characteristics,increased calculated quantity,and the problem of low accuracy of modeling.A modeling method for flight path of unmanned aerial vehicle（uav） based on R tree model by combining XML flight path parameters mining and space-time threshold value is proposed.Firstly,for the flight path parameters under airflow vibration of unmanned aerial vehicle（uav）,using the XML method based on tree model makes management in order to the index of later modeling,then,the space-time threshold factor is introduced,according to the flight path of unmanned aerial vehicle（uav）,the movement trend is made mathematical model within the scope of the threshold.Simulation results show that the proposed method can more accurately make mathematical modeling for the flight path of unmanned aerial vehicle（uav） under the airflow vibration,and the consistency of simulation calculation results is better than flight test data,providing a reference for modeling optimization of the flight path of unmanned aerial vehicle（uav）.