无人机航迹追踪算法研究与仿真

Path-following algorithms and simulation of unmanned aerial vehicles

为了使无人机在低空空域更好地完成指定任务,需要使无人机能够在已建立的参考飞行航路基础上安全地到达目标点,进行合理有效的航迹追踪算法研究十分必要。根据无人机制导、控制以及飞行航迹的特点,借助几何学和运动学特性,研究设计了直线、圆弧以及三角函数曲线3种典型曲率变化情况下的航迹追踪制导律,同时仿真得到了航迹飞行误差。经仿真分析,此制导律具有跟踪误差小,系统稳定的优点,为今后无人机航迹追踪提供了一定的理论基础。

In order to complete a better task on unmanned aerial vehicles in the low-altitude airspace,it is very necessary to research and establish a reasonable and effective path-following algorithm,which can make the unmanned aerial vehicles follow the established trajectory and reach the destination safely. Based on the characteristics of the guidance,control and flight trajectory of unmanned aerial vehicle,with the help of geometry and kinematics characteristics,the path-following guidance law is designed to follow straight line,arc and trigonometric function curve with different curvature change,and the tracking error lines are obtained. Through the simulation analysis,it is clear that the guidance law can realize path-following steadily with small tracking error,providing a certain theoretical basis for the path following of unmanned aerial vehicle in the future.