基于位姿耦合及激光测距的飞机运行轨迹规划

Aircraft trajectory planning based on position attitude coupling and laser ranging

传统轨迹规划方法实时性差、计算量大且容易出现局部最优现象,针对上述问题,在位姿耦合及激光测距基础上规划飞机运行轨迹。通过对偶数和旋量概念定义飞机刚体的对偶性算子,建立目标位姿耦合动力学模型,改进姿轨耦合控制器,提高轨迹规划精度;分析相位激光测距原理,获得测距方程;构建飞机与发动机数学模型,确立目标函数,将发动机推力、飞机迎角与平飞速度作为约束条件,确定目标点之间最佳访问顺序,通过SQP寻优方法,完成飞机运行轨迹规划。仿真实验证明,所提方法能够减少计算量,缩短运行路径,有效降低单位航程的燃油消耗,满足实时性要求,可以根据不同飞机飞行条件规划出最优轨迹。

Traditional trajectory planning methods have poor real-time performance,a large amount of calculation,and are prone to optimal local phenomena.In response to the above problems,this paper plans the aircraft trajectory based on attitude and attitude coupling and laser ranging.We first define the aircraft’s rigid body’s duality operator through the concepts of duality and spin and then establish the target position and attitude coupling dynamic model to improve the attitude and track coupling controller and the trajectory planning accuracy.We then analyse the phase laser ranging principle and obtain the ranging equation;construct The mathematical model of the aircraft and the engine establishes the objective function,uses the engine thrust,the angle of attack of the aircraft,and the level flight speed as constraints determines the optimal access sequence between the target points and completes the aircraft trajectory planning through the SQP optimisation method.Simulation experiments prove that the proposed method can reduce the amount of calculation,shorten the running path,effectively reduce the fuel consumption per unit range,meet the realtime requirements,and plan the optimal trajectory according to different aircraft flight conditions.