基于Radau伪谱法的无人作战飞机四维轨迹规划

4D trajectory planning of UCAV based on Radau pseudo-spectral method

针对无人作战飞机(UCAV)打击时敏目标和多机协同攻击问题,提出一种基于Radau伪谱法(RPM)的无人作战飞机四维攻击轨迹规划方法。在综合考虑UCAV气动力特性、大气环境特性基础上建立了高精度UCAV(3-DOF)质点模型,并设计了约束条件和目标函数;基于动态RCS建立威胁模型,构建了最优控制理论框架的UCAV四维攻击轨迹规划模型;通过RPM将动态RCS威胁下的四维攻击轨迹规划问题转换为非线性优化问题,然后利用SNOPT软件包进行求解。仿真结果表明,该方法能够以较快的速度和较高的精度生成满足多种复杂约束条件的四维攻击轨迹。

In this paper, we propose a 4 D trajectory planning algorithm of unmanned combat aerial vehicle(UCAV) based on the Radau pseudo-spectral method(RPM) for time-sensitive targets attacking problem and multi-machine cooperatively attacking problem. A high-precision UCAV(3-DOF) particle model with designed constraints and objective functions is developed by taking aerodynamic characteristics and atmospheric environmental characteristics of UCAV into consideration. Representing the dynamic RCS based threat model, we further construct the 4 D attack trajectory planning of UCAV using the optimal control theory. The problem of 4 D attack trajectory planning under the RCS threat model is transformed to a nonlinear optimization problem by RPM and then solved by the SNPOT software package. The simulation results show that the proposed method can generate 4 D attack trajectories effectively with high speed and high precision which meet various complex scenarios.