固定翼无人机密集编队极速穿越策略研究
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中国空气动力研究与发展中心空天技术研究所

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中图分类号:

TP273

基金项目:

科技部科技创新2030-重大项目(2020AAA0104801), 国家自然科学基金项目(61903364)


Research on Fixed-wing UAVs close Formation for speed Crossing
Author:
Affiliation:

Aerospace Technology Institute of CARDC

Fund Project:

Science and Technology Innovation 2030 MajorProject(2020AAA0104801),National Natural Science Foundation of China

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    摘要:

    针对固定翼无人机密集编队穿越门框的任务场景,提出了系统的编队穿越方案.首先,根据机载相机测量信息,提出了基于视线角的制导策略,能快速调整机头指向对准门框;其次,为了提高成功穿越的可靠性以及解决视线遮挡问题,提出了基于门框位置解算的协同制导策略;然后,针对复赛存在导航干扰情况,在水平方向上设计了基于特征点测量的惯性导航算法,垂直方向采用基于微分滤波的气压高度和升降率提取方法,并且利用视线角穿越门框;设计了基于距离控制的编队控制律.最后,设计了相应的固定翼无人机系统,并以7机编队的形式参加了2021 年“无人争锋”极速穿越比赛,参赛结果验证了本文提出的极速穿越方法的有效性.

    Abstract:

    Aiming at the task scene of close formation of fixed wing UAVs crossing through the gates, a systematic formation crossing scheme is proposed. Firstly, according to the measurement information of airborne camera, aguidance strategy based on line of sight angle is proposed, which can quickly adjust the nose to aim at the gates; Secondly, in order to improve the reliability of successful crossing and solve the problem of line of sight occlusion, a cooperative guidance strategy based on gate position solution is proposed; Then, in view of the navigation interference in the semi-finals, an inertial navigation system(INS) based on feature point measurement is designed in the horizontal direction. In the vertical direction, the extraction method of air pressure height and vertical velocity based on differential filtering is adopted, and the line of sight angle is used to pass through the gates; A formation control law based on distance control is designed. Finally, the fixed-wing UAV system is designed, and we participated the 2021 Fast Crossding Race of UAV Challenge Competition in a formation of 7 UAVs. The competiton results verify the effectiveness of the proposed method.

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历史
  • 收稿日期:2021-09-26
  • 最后修改日期:2022-01-30
  • 录用日期:2022-02-25
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