三段式无人机集结制导律设计

Design of Three-Stage Guidance law for UAVs Rendezvous

为了使多无人机集结形成编队,提出一种基于虚拟导引点的三阶段无人机制导律。第一阶段:采用传统比例导引,使各无人机以最大速度接近虚拟导引点;第二阶段:当无人机距离虚拟导引点较近时,对无人机的速度、航向角进行控制,使其与虚拟导引点保持一致,初步形成松散编队;第三阶段:对无人机与虚拟导引点之间的相对距离进一步压缩,从而实现紧密编队。利用雅可比矩阵来判断制导律的稳定性,并通过仿真验证上述制导律的可行性。上述方法能大大提高集结过程的灵活性,并且形式简洁,具有一定的工程应用价值。

In order to rendezvous multiple unmanned aerial vehicles(UAVs) into a formation, a three-stage guidance law based on virtual guidance points is proposed in this paper. In the first stage, the traditional proportional guidance is used to make the UAV approach the virtual guidance point at the maximum speed, and in the second stage, when the UAV is close to the virtual guidance point, the speed and heading angle of the UAV are controlled. In the third stage, the relative distance between the UAV and the virtual guidance point is further compressed, so that the tight formation can be realized. The Jacobian matrix was used to judge the stability of the guidance law, and the feasibility of the guidance law was verified by simulation. This method can greatly improve the flexibility of the aggregation process, and the form is simple, and has certain engineering application value.