多无人机协同航迹规划技术研究

多无人机协同航迹规划是多无人机协同控制的重要组成部分。多无人机协同航迹规划能得到满足安全性、协同性和任务要求的较优航迹,这对提高无人机系统性能有重要的意义。介绍了多无人机协同航迹规划的问题描述和求解结构,总结了在协同规划问题中的约束条件和航迹协调方法,着重阐述了几种在多无人机编队中常用的控制方法。在此基础上,对未来可能的研究方向进行了展望。     

卫星编队队形保持非线性燃料次优控制

针对卫星编队飞行队形保持推导了一种利用相对轨道根数为反馈量的非线性燃料次优控制算法。该控制算法基于高斯型摄动方程采用Lyapunov控制,控制增益是时变的以便控制某轨道根数时对其余的轨道根数影响最小。这种控制算法接近于燃料最优,且可以调整增益系数来适应推力大小的不同情况。仿真结果表明,该控制方法是有效的,且相比其他的控制算法能够节省更多的燃料。     

Identifying the number of aircraft in formation flight using ISAR technique

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航空兵掩护编队对突击编队掩护效能分析建模

研究了掩护编队对突击编队的掩护效能问题,给出了掩护编队的掩护效能定义和模型,修正了无掩护时敌歼击机截击成功概率模型,结合改进后的空战交换比模型,建立了有航空兵掩护编队护航时敌歼击机截击成功概率模型和我突防概率模型,并通过仿真算例验证了模型的有效性和合理性。可为航空兵部队合理进行作战编组、科学制定兵力出动计划提供参考和借鉴。     

美国海军电子战系统及技术发展趋势

回顾了以舰载电子战系统、舷外电子战系统和舰载机电子战系统为代表的美军主要海战场电子对抗装备发展情况,总结了海战场电子对抗技术的发展现状,并对其未来发展趋势进行了分析,为我国相关技术的发展提供借鉴。     

RadioAstron reveals super-compact structures in the bursting H2O maser source G25.65+1.05

Water masers are well-known to be variable on a variety of time scales, but only three Galactic H₂O masers are known to flare to the level of 10⁵–10⁶ Jy (${\text{T}}_{\text{B}}\sim {10}^{17}$ K): Orion KL, W49N, and the recently discovered G25.65+1.05. Recently detected flaring activity of H₂O maser in the massive star-forming region G25.65+1.05 gave us a unique opportunity to study the fine structure of H₂O maser emission in the bursting state with extremely high space VLBI angular resolution. Observation of the source was carried out with ∼9 Earth diameter space-ground baseline within the framework of the RadioAstron project. H₂O maser emission from two spectral features, including the bursting one, was detected in the experiment. Only ∼1% of the bursting H₂O maser emission was detected on the space-ground baselines: it indicates the presence of a very compact spatial structure with a size of ∼25 $\mathrm{\mu }$as, which corresponds to 0.05 AU or ∼5 solar diameters at the distance to the source of 2.08 kpc, and the brightness temperature of ∼3 × 10¹⁶ K. Analysis of the flux density as a function of the baseline length for the bursting H₂O maser feature in the source shows that most of the emission comes from an extended “halo” structure, while the core of emission is very compact and has an extreme brightness temperature. These results are in agreement with the model of interacting maser clouds considered as the likely explanation of the nature of the burst in the source. Under the assumption of such a model, the beam size of maser emission is reduced while the brightness temperatures similar to the highest observed values are produced.     

Target-enclosing affine formation control of two-layer networked spacecraft with collision avoidance

This paper addresses a target-enclosing problem for multiple spacecraft systems by proposing a two-layer affine formation control strategy. Compared with the existing methods, the adopted two-layer network structure in this paper is generally directed, which is suitable for practical space missions. Firstly, distributed finite-time sliding-mode estimators and formation controllers in both layers are designed separately to improve the flexibility of the formation control system. By introducing the properties of affine transformation into formation control protocol design, the controllers can be used to track different time-varying target formation patterns. Besides, multi-layer time-varying encirclements can be achieved with particular shapes to surround the moving target. In the sequel, by integrating adaptive neural networks and specialized artificial potential functions into backstepping controllers, the problems of uncertain Euler-Lagrange models, collision avoidance as well as formation reconfiguration are solved simultaneously. The stability of the proposed controllers is verified by the Lyapunov direct method. Finally, two simulation examples of triangle formation and more complex hexagon formation are presented to illustrate the feasibility of the theoretical results.     

Finite-time relative orbit-attitude tracking control for multi-spacecraft with collision avoidance and changing network topologies

This paper addresses the relative position tracking and attitude synchronization control problem for spacecraft formation flying (SFF). Based on the derived relative coupled six-degree-of-freedom dynamics, a robust adaptive finite-time fast terminal sliding mode controller is proposed to achieve the desired formation in the presence of model uncertainties and external disturbances. It is shown that the designed controller is effective for changing information exchange topology making it robust to node failure. Then, the artificial potential function method is employed to generate collision avoidance schemes to modify the controller such that inter-agent collision avoidance can be ensured during the formation maneuver, which is critical for practical missions. The stability of the overall closed-loop system is proved by using Lyapunov theory. Finally, numerical examples for a given SFF scenario are presented to illustrate the performance of the controller.     

Hardware-In-the-Loop Simulations of spacecraft attitude synchronization using the State-Dependent Riccati Equation technique

A nonlinear control technique pertaining to attitude synchronization problems is presented for formation flying spacecraft by utilizing the State-Dependent Riccati Equation (SDRE) technique. An attitude controller consisting of relative control and absolute control is designed using a reaction wheel assembly for regulator and tracking problems. To achieve effective relative control, the selective state-dependent connectivity is also adopted. The global asymptotic stability of the controller is confirmed using the Lyapunov theorem and is verified by Monte-Carlo simulations. An air-bearing-based Hardware-In-the-Loop Simulator (HILS) is also developed to validate the proposed control laws in real-time environments. The SDRE controller is discretized for implementation of a real-time processor in the HILS. The pointing errors are about 0.2° in the numerical simulations and about 1° in the HILS simulations, and experimental simulations confirm the effectiveness of the control algorithm for attitude synchronization in a spacecraft formation flying mission. Consequently, experiments using the HILS in a real-time environment can appropriately perform spacecraft attitude synchronization algorithms for formation flying spacecraft.     

Elliptical formation control based on relative orbit elements

A new set of relative orbit elements（ROEs）is used to derive a new elliptical formation flying model.In-plane and out-of-plane motions can be completely decoupled,which benefts elliptical formation design.The inverse transformation of the state transition matrix is derived to study the relative orbit control strategy.Impulsive feedback control laws are developed for both in-plane and out-of-plane relative motions.Control of in-plane and out-of-plane relative motions can be completely decoupled using the ROE-based feedback control law.A tangential impulsive control method is proposed to study the relationship of fuel consumption and maneuvering positions.An optimal analytical along-track impulsive control strategy is then derived.Different typical orbit maneuvers,including formation establishment,reconfguration,long-distance maneuvers,and formation keeping,are taken as examples to demonstrate the performance of the proposed control laws.The effects of relative measurement errors are also considered to validate the high accuracy of the proposed control method.