基于向量场法的固定翼无人机制导算法的设计与实现

Design and Implementation of Path Following Algorithm Based on Vector Field Method for Fixed-wing UAV

研究某中小型固定翼无人机在风干扰环境下的制导控制问题,对无人机路径跟随制导算法进行了改进。结合该无人机的姿态控制系统与路径跟随问题模型,设计了一种基于向量场的侧向制导算法,该算法只考虑侧偏距作为影响航线角指令变化的唯一因素,代替了基于PID的侧向制导算法,并与PID纵向制导算法进行了融合。通过数字仿真实验和半实物仿真实验验证了改进后算法的有效性和优越性,无人机路径跟随性能明显更优,抗风干扰能力显著提升。

This paper studies the guidance control problem of a small and medium-sized fixed-wing UAV under wind disturbances and improves the path following guidance algorithm.Combining the autopilot models and the path following problem models of the UAV,a lateral guidance algorithm based on vector field is designed.The algorithm only considers the side offset as the only factor affecting the change of route angle command,replaces the lateral guidance algorithm based on PID,and integrates with the PID longitudinal guidance algorithm.Finally,its performance is evaluated by various simulations.The experimental results show that the performance of UAV path following is significantly enhanced,and the interference resistance of wind is significantly improved.