共轴无人直升机航线飞行中航向反馈问题

通过软件仿真复现了经典的无人直升机导航控制规律算法外场试飞实验时在不同条件(静风、突发常值风干扰)下的飞行情况,并分析了航向偏差、侧滑速度、偏航距等主要导航性能指标.分析了算法在有突发常值风干扰时航线飞行伴有明显侧滑现象的原因,对比分析了单独引入航向反馈及同时利用航向反馈及偏航距积分对导航性能影响,进而给出了一种共轴无人直升机导航规律新算法.通过软件仿真验证了改进后的算法能够保证无人直升机有效地协调转弯,并且在导航精度的前提下有效地抑制了侧滑问题,进而提高了共轴无人直升机航线飞行的效率.

Heading feedback in coaxal pilotless helicopter-s course flight

Soft simulation replicated the flight performence of coaxal pilotless helicopter controlled by classical navigation algorithm based on d(deviation distance) and its- variation ratio d ·  in various situations (undisturbed, constant gust disturbed). The heading bias, sideslip velocity and deviation distance were analyzed to explain the phenomenon of sideslip in the situation of constant gust disturbance during the course flight when using the classical algorithm. To solve this problem an amendatory algorithm was proposed and analyzed with simulation. Two approaches were compared to analysis the effect of introducing different feed-back (one was only using heading feed-back, the other was using heading feed back and integral of d). The results indicate that the algorithm based on heading feed-back and integral of d performs well in smooth turning and achieves better performance in avoiding sideslip on the premise of achieving satisfying navigation precision. As a result, the amendatory algorithm proposed improves the course flight efficiency of coaxal pilotless helicopter.