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潜射无人机海上飞行时主要面临敌方舰船雷达的探测威胁。传统的无人机航迹规划主要采用无人机与雷达的距离威胁模型,未考虑无人机雷达散射截面积的动态变化过程。在分析了无人机动态RCS模型的基础上,提出一种基于改进人工势场法的无人机航迹规划方法。该方法将无人机的航向角作为控制变量,利用其与目标距离、威胁距离和无人机雷达散射截面积之间的关系,结合无人机运动方程,建立新的目标函数,并运用负梯度下降法搜索航路点。仿真结果表明,该方法能够较好地解决潜射无人机海上突防问题。
Submarine-launched drones mainly face the threat of detection of enemy ship’s radars when flying in sea. Traditional UAV trajectory planning mainly uses the distance threat model of the UAV and radar, and does not consider the dynamic change process of the UAV radar cross-sectional area. Based on the analysis of UAV dynamic RCS model, a method of UAV flight path planning based on improved artificial potential field is proposed. The method takes the heading angle of the UAV as a control variable and establishes a new objective function based on the relationship between the target distance, the threat distance and the cross-sectional area of the UAV radar, and uses the negative Gradient descent method search waypoint. The simulation results show that the proposed method can solve the problem of sudden penetration of submarine-launched UAVs at sea.