小型无人机在简化传感器配置下的自主回收控制系统设计

在具备多传感器条件下,借助多传感器信息融合算法可以实现小型无人机的自主回收任务,如何采用少量传感器完成任务是一个重要的研究方向.本文给出一种仅利用单GPS辅以高度表的组合方式来完成小型无人机的自主回收任务.文中以该传感器组合为基础,设计了回收过程中各阶段的控制器结构,并利用序列二次规划(SQP)算法选择了控制律参数,最后利用在Simulink环境下建立的系统数字仿真模型对所设计的控制器结构和控制律参数进行了仿真验 证.仿真结果表明可以完成小型无人机的自主回收任务.

Design of Auto-Recovery System for SUAV in Simple Sensor Combination

The auto-recovery of the SUAV can be accomplished with the application of multi-sensor information fusion algorithm in the conditions of having multi-sensors,but how this task is completed with less sensors has become a more important research field.In this paper a method which can achieve the task and is based on simple combination of a single-GPS and an altitude is given.The controllers based on the combination are designed for the full process,and also the corresponding parameters of these controllers are chosen by using the SQP method.Finally,the simulation are executed under the Simulink environment to verify the designed controllers.And the result shows that these controllers can successfully accomplish the auto-recovery task of SUAV.