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对地面目标的定距盘旋跟踪问题是无人机(UAVs)在任务应用阶段需要面临的重要问题之一,如何在传感器信息受限的情况下完成跟踪任务是目前的研究热点。首先针对地面固定目标设计了一种仅依赖测距传感器的制导律,不再需要传统的视线角信号以及目标和无人机自身的定位信息;其次,设计了李雅普诺夫函数对该制导律的稳定性进行了严格数学证明;最后,将该制导律推广到对地面匀速和变速移动目标的跟踪制导。相比于现有制导律,所提出的制导律结构更为简洁,仅有一个设计参数,并且制导策略更为合理。仿真结果表明所提出的制导律能够实现无人机对地面固定和移动目标的稳定跟踪。
It is one of the most important issues that UAVs need to face in the task application stage. How to accomplish the tracking task under the condition of limited sensor information is the current research hotspot. Firstly, a guidance law based on ranging sensor is designed for the ground fixed target, and the traditional line-of-sight signal and target and UAV’s own localization information are no longer needed. Secondly, the Lyapunov function is designed for the guidance law Stability of the rigorous mathematical proof; Finally, the guidance law is extended to the ground uniform and variable speed moving target tracking guidance. Compared with the existing guidance law, the proposed guidance law structure is more concise, with only one design parameter, and the guidance strategy is more reasonable. The simulation results show that the proposed guidance law can realize the stable tracking of the UAV fixed to the ground and the moving target.