固定翼无人机编队集结控制算法研究

针对固定翼无人机协同作战时的编队集结问题,提出了一种新的路径规划和位置分配方法,并设计了包括航迹跟踪、高度保持和速度控制在内的自动驾驶仪。该路径规划算法通过矩阵迭代得到一组较优的目标点分配方案,满足总航程较小和同时到达约束。根据得到的各无人机飞向目标点的航迹,算出无人机编队集结的代价矩阵。在每架无人机确定了应飞航路后,开始沿航路飞向目标点,在此过程中,纵向采用高度保持自动驾驶仪,横向采用航迹跟踪自动驾驶仪,控制无人机按规定航迹飞行。速度调节自动驾驶仪可根据速度指令调节油门大小加减速,跟踪上目标速度,进而实现编队集结。仿真结果验证了所提出的编队集结控制方法的有效性和可行性。     

A guidance law for UAV autonomous aerial refueling based on the iterative computation method

The rendezvous and formation problem is a significant part for the unmanned aerial vehicle（UAV） autonomous aerial refueling（AAR） technique. It can be divided into two major phases： the long-range guidance phase and the formation phase. In this paper, an iterative computation guidance law（ICGL） is proposed to compute a series of state variables to get the solution of a control variable for a UAV conducting rendezvous with a tanker in AAR. The proposed method can make the control variable converge to zero when the tanker and the UAV receiver come to a formation flight eventually. For the long-range guidance phase, the ICGL divides it into two sub-phases： the correction sub-phase and the guidance sub-phase. The two sub-phases share the same iterative process. As for the formation phase, a velocity coordinate system is created by which control accelerations are designed to make the speed of the UAV consistent with that of the tanker.The simulation results demonstrate that the proposed ICGL is effective and robust against wind disturbance.     

变论域模糊控制在无人飞行器马赫数控制中的应用研究

针对无人飞行器的控制要求,提出了一种增量式变论域模糊智能控制算法。该算法具有调节裕度大、鲁棒性强的特点,适用于非线性控制系统,解决了无人飞行器巡航马赫数缓慢升高不能稳定跟踪目标值的问题。通过模拟飞行轨迹的半实物仿真试验,验证了模糊智能控制算法的控制效果,试验结果表明,通过采用模糊控制方法大大提高飞行马赫数控制的动态性能,满足无人飞行器控制系统设计要求,取得了较好的控制效果。      

基于Turbo码研究的无人机信道分析与建模

针对无人机通信信道的特点和要求,提出了一种无人机信道模型.通过分析无人机通信信道的组成,将信道按照无人机的飞行状态划分为3种主要状态,最后通过实验给出了无人机在不同飞行状态下误码率性能和的仿真结果,并将此结果与计算机模拟该无人机信道下的仿真结果相比较,得出在进行无人机信道编码的仿真研究中应用该信道模型的具有可行性和重要意义.     

基于惯性/激光测距/视觉里程计组合的高空场景尺度误差估计方法

惯性/视觉感知信息融合导航定位技术是目前实现无人机不依赖卫星自主导航的最有效手段。但对于面向高空场景的大型无人机,惯性器件误差与视觉里程计尺度误差耦合且特征平面化导致可观测性下降。针对这一问题,提出了利用惯性/激光测距/视觉里程计组合实现尺度误差估计的方法。通过开展误差模型建立、激光测量点与图像中位置匹配、无人机平飞机动下系统可观测性分析等关键技术研究,实现了高空场景下尺度误差的精确估计。经过300m高度机载试验数据验证,算法精度优于1.5%D,对卫星拒止条件下高空无人机自主导航具有重要意义。     

小型折叠翼多用途无人机折叠方案及其展开机构设计

随着现代战争模式的发展,小型折叠翼多用途无人机成为研究热点。在对折叠翼气动布局方案进行分析的基础上提出了一种Z字型气动布局的折叠方案,并且设计了一种可以自锁的滑块摆杆机构作为展开机构,得到了一种折叠翼多用途无人机机械系统结构。对采用Z字型气动布局的折叠翼无人机模型进行了多次试飞,发现该模型具有良好的便携性,展开机构运行可靠,Z字型气动布局飞行平稳、操控性好。     

Data-driven offline reinforcement learning approach for quadrotor's motion and path planning

Non-learning based motion and path planning of an Unmanned Aerial Vehicle(UAV)is faced with low computation efficiency,mapping memory occupation and local optimization prob-lems.This article investigates the challenge of quadrotor control using offline reinforcement learn-ing.By establishing a data-driven learning paradigm that operates without real-environment interaction,the proposed workflow offers a safer approach than traditional reinforcement learning,making it particularly suited for UAV control in industrial scenarios.The introduced algorithm evaluates dataset uncertainty and employs a pessimistic estimation to foster offline deep reinforce-ment learning.Experiments highlight the algorithm's superiority over traditional online reinforce-ment learning methods,especially when learning from offline datasets.Furthermore,the article emphasizes the importance of a more general behavior policy.In evaluations,the trained policy demonstrated versatility by adeptly navigating diverse obstacles,underscoring its real-world appli-cability.     

基于IMM-UIF的多无人机纯角度机动目标跟踪

针对单无人机不能及时捕捉到目标的运动状态信息,很容易跟丢目标的问题,结合无迹信息滤波(UIF)算法和交互多模型(IMM)算法,提出了基于IMM-UIF的多无人机分布式融合估计算法.将各个无人机上的观测信息传输至中心节点,并统一优化各无人机的控制输入.仿真结果表明,基于IMM-UIF的多无人机分布式融合估计算法比基于IMM-UIF的单无人机跟踪精度提高了约30％,有效融合多无人机平台的量测信息,实现对目标稳定的高精度跟踪.     

Reliability analysis of multimodal scene matching based on correlation peaks

The navigation system plays a pivotal role in guiding aircraft along designated routes,ensuring precise and punctual arrival at destinations.The integration of scene matching with an inertial navigation system enhances the capability of providing a dependable guarantee for success-ful accomplishment of flight missions.Nonetheless,assuring reliability in scene matching encoun-ters significant challenges in areas characterized by repetitive or weak textures.To tackle these challenges,we propose a novel method to assess the reliability of scene matching based on the dis-tinctive characteristics of correlation peaks.The proposed method leverages the fact that the sim-ilarity of the optimal matching result is significantly higher than that of the surrounding area,and three novel indicators(e.g.,relative height,slope of a correlation peak,and ratio of a sub peak to the main peak)are determined to conjointly evaluate the reliability of scene matching.The pro-posed method entails matching a real-time image with a reference image to generate a correlation surface.A correlation peak is then obtained by extracting the portion of the correlation surface exhibiting a significant gradient.Additionally,the matching reliability is determined by considering the relative height,slope,and ratio of the peak collectively.Exhaustive experimental results with two sets of data demonstrate that the proposed method significantly outperforms traditional approaches in terms of precision,recall,and F1-score.These experiments also establish the efficacy of the proposed method in achieving reliable matching in challenging environments characterized by repetitive and weak textures.This enhancement holds the potential to significantly elevate scene-matching-based navigation.     

翼身融合无人机外形优化设计研究

翼身融合布局无人机具有较好的升阻特性和隐身特性,拥有广泛的应用前景。为了提高无人机的续航能力,兼顾翼身融合无人机的气动特性和结构重量要求,选择无人机升阻比与全机面积作为优化目标,应用多目标优化方法研究翼身融合无人机的外形设计,提出一种针对翼身融合无人机的外形参数化优化设计方法,并进行实例验证。结果表明:外形优化可以提高无人机升阻比、减轻结构重量,从而获得合理的翼身融合无人机设计方案。     

Control techniques of tilt rotor unmanned aerial vehicle systems:A review

The tilt rotor unmanned aerial vehicle (TRUAV) exhibits special application value due to its unique rotor structure. However, varying dynamics and aerodynamic interference caused by tiltable rotors are great technical challenges and key issues for TRUAV's high-powered flight con-trols, which have attracted the attention of many researchers. This paper outlines the concept of TRUAV and some typical TRUAV platforms while focusing on control techniques. TRUAV struc-tural features, dynamics modeling, and flight control methods are discussed, and major challenges and corresponding developmental tendencies associated with TRUAV flight control are summa-rized.