基于直线-圆弧混合导引的无人机自主返航控制技术

Autonomous Return Control Technology of UAV Based on Linear-arc Hybrid Guidance

应急返航是无人机飞行过程中的一种紧急处置措施,返航初始条件的不确定性对无人机的自主控制能力提出了很高的要求。文中以无人机应急返航的需求为牵引,给出了一种基于Dubins算法的路径在线规划方法,并提出了一种基于直线-圆弧混合引导的复杂路径高精度跟踪控制方法。通过六自由度仿真,验证了路径规划的正确性及轨迹跟踪的精度,并通过蒙特卡洛仿真,进一步验证了本控制方案的逻辑完整性。本方案在工程应用中具有一定的借鉴意义。

Emergency return is an emergency treatment during the flight of the UAV.The uncertainty of the initial conditions of the return flight puts high demands on the autonomous control capability of the UAV.In this paper,based on the demand of UAV emergency return,a path online planning method based on dubins algorithm is presented,and a high-precision tracking control method based on linear-arc hybrid guidance is proposed.The six-degree-of-freedom simulation is used to verify the correctness of the path planning and the accuracy of the trajectory tracking.The Monte Carlo simulation is used to further verify the logical integrity of the control scheme.This scheme has certain reference significance in engineering application.