无人机跟踪目标初始段的航向收敛性分析

Heading Convergence Analysis for UAV in Its Initial Stage of Target Tracking

针对无人飞行器(UAV)跟踪目标初始段实际航向与制导矢量场提供的期望方向不一致问题,提出了一种基于动态逆的航向误差修正方法。首先,在UAV运动学模型基础上利用Lyapunov矢量场制导方法为UAV跟踪目标提供了跟踪导引律;之后,通过构建UAV航向误差修正动态逆结构系统,在UAV飞行初始段逐步修正航向误差,并控制航向误差收敛速度;最后,将UAV初始航向按所在区域进行分类,进行了航向反馈收敛性证明。对不同控制参数下UAV初始段航向收敛速度及飞行航迹进行了仿真验证,同时将本文方法与圆弧补偿方法进行了仿真对比,仿真结果证明了动态逆修正法的有效性与实用性。

In order to solve the problem that the actual heading of the UAV in the initial stage of target tracking is inconsistent with the expected direction provided by the guidance vector field,a method of heading error correction based on dynamic inversion is proposed.Firstly,on the basis of UAV kinematics model,Lyapunov vector field guidance method is used to provide the tracking guidance law for UAV in target tracking.Secondly,by constructing the dynamic inverse structure system of UAV heading error correction, the heading error is gradually corrected in the initial stage of UAV flight,and the convergence speed of heading error is controlled.Finally,the initial heading of UAV is classified according to its region,and convergence of heading feedback is proved.The convergence speed and flight path of UAV initial course under different control parameters are simulated and verified,and comparison analysis is made with the arc compensation method.The simulation results show that the dynamic inverse correction method is effective and practical.