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将无人机发动机的性能转化为约束条件进行航迹规划,减小了航迹跟踪阶段的航迹跟踪误差.分析了发动机性能与航迹规划约束条件之间的关系,给出了发动机功率与最大爬升角、最大转弯角、航程与续航时间之间的转换公式,建立了最大转弯角与最小航迹长度之间的数学联系.仿真结果表明,根据发动机性能得到的不同约束条件能够规划出适合不同无人机的三维航迹.
The performance of the UAV engine is transformed into the constraint conditions for the trajectory planning and the trajectory tracking error of the trajectory tracking stage is reduced.The relationship between the engine performance and the trajectory planning constraints is analyzed.The relationship between engine power and The maximum angle of climb, the maximum turning angle and the formula of transition between flight range and cruising time, the mathematical relation between the maximum turning angle and the minimum track length is established.The simulation results show that according to the different constraints obtained from engine performance, Different UAV 3D tracks.