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自主编队是无人机集群作战的关键技术。提出了一种基于视线的三维无人机双机与多机自主编队方法。制导律采用横纵分离的经典PD控制方式进行设计,建立了加入制导律的双机、多机的质点相对运动学模型,通过求解该模型在平衡点处的雅克比矩阵的特征根,来判断制导律的稳定性。仿真结果表明:设计的制导律能有效导引无人机构成编队,并保持编队飞行。
Autonomous formation is the key technology for UAV cluster operations. This paper proposes a two-machine and multi-machine autonomous formation method of three-dimensional UAV based on line-of-sight. The guidance law adopts the classical PD control method of horizontal and vertical separation to design. The relative kinematics model of two-machine and multi-machine based on the guidance law is established. By solving the eigenvalue of Jacobian matrix at the equilibrium point, Guidance law stability. The simulation results show that the designed guidance law can effectively guide the formation of formation of UAVs and maintain formation flight.