A guidance method for automatic tracking of ground targets for unmanned aerial vehicles

A ground target and automatic tracking technology, which is applied in the direction of finding target control, etc., can solve the problem of heavy computer calculation load, and achieve the effect of reducing the calculation burden and simplifying the structure of the sensor.

Active Publication Date: 2019-01-11
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

The traditional guidance law design usually requires more information about the relative relationship between the UAV and the ground target, such as UAV position, speed, heading, line-of-sight angle, line-of-sight angular velocity, and target position sensor information, and the guidance law contains trigonometric functions or inverse trigonometric functions, the calculation load of the computer is heavy

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  • A guidance method for automatic tracking of ground targets for unmanned aerial vehicles
  • A guidance method for automatic tracking of ground targets for unmanned aerial vehicles
  • A guidance method for automatic tracking of ground targets for unmanned aerial vehicles

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Embodiment Construction

[0023] The technical scheme of the present invention is described in detail below in conjunction with accompanying drawing:

[0024] 1. The UAV flight control system is composed of an inner loop (stabilizing loop) and an outer loop (guidance loop). In the present invention, the inner loop has been designed and can respond well to the guidance instructions given by the outer loop, and track By default, the speed of the drone is higher than the target speed when moving the target. Ideally, a UAV performing a fixed-distance tracking task should maintain a fixed height and a turning radius to make a circular motion around the tracked object, so usually only the two-dimensional guidance problem at a fixed height can be considered. Note that ρ is the relative distance between the UAV and the target, ρ∈[0,∞], χ is the line of sight angle, χ∈[0,2π) and counterclockwise is positive, ρ d is the expected distance, v is the speed of the UAV, such as figure 1 shown.

[0025] Investigate...

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Abstract

The invention provides a guidance method for tracking a ground target automatically by an unmanned plane. With the guidance method, guidance of a ground fixed target, a constant-speed moving target, and a variable-speed moving target can be realized without the need of relying on the traditional aspect angle signal and positioning information of a target and an unmanned plane. Especially for the ground fixed target, automatic tracking can be realized only by relying on the speed, the relative distance, and the relative distance changing rate of the unmanned plane. In order to demonstrate stability of the guidance law of the novel method, the lyapunov function is used for carrying out strict mathematical demonstration on the stability. Compared with the existing guidance method, the employed guidance law structure is simpler and only one design parameter is employed; and no trigonometric function or anti-trigonometric function operation is carried out in the fixed target guidance law. With the method, automatic and stable tracking on the fixed and moving targets on the ground by the unmanned plane can be realized.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a guidance method for an unmanned aerial vehicle to automatically track a ground target. Background technique [0002] UAV fixed-distance tracking refers to a tracking method in which the UAV always keeps a pre-specified fixed distance from the target when tracking the ground target. For fixed-wing UAVs, it is a method of circling tracking at a specified distance . The traditional guidance law design usually requires more information about the relative relationship between the UAV and the ground target, such as UAV position, speed, heading, line-of-sight angle, line-of-sight angular velocity, and target position sensor information, and the guidance law contains trigonometric functions Or inverse trigonometric functions, the calculation load of the computer is heavy. [0003] Under the condition of limited sensor information, in addition to the speed of the UAV, the mo...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/12
Inventor 张民田鹏飞陈亮夏卫政陈欣
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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