考虑协同航路规划的多无人机任务分配

针对多无人机任务分配与协同航路规划问题，以分布式合同网拍卖算法为基础，构建无人机集群任务拍卖架构与拍卖收益函数，结合模拟退火算法协调任务执行次序，采用A^*算法完成两任务点间航程预估，在任务分配阶段同步完成多无人机间协同航路的初规划，确定最佳任务执行次序，实现任务分配与协同航路规划的紧耦合。仿真结果表明，在考虑禁飞区、障碍威胁情况下，该算法能够有效完成多架无人机不同类型任务的分配，且目标分配、执行次序合理，总执行代价小，各机间负载均衡；在任务分配阶段考虑协同航路规划具有明显的效果，能够有效提高任务分配的合理性。     

轻小型太阳能/氢能无人机发展综述

轻小型无人机（UAV）在军民领域都有着广泛的用途，电动无人机由于其振动低、无污染、无排放等优势，已经成为无人机领域的发展热点。为了提高轻小型电动无人机的航时，清洁、高能量密度的太阳能和氢能成为非常可行的技术途径之一。本文总结了轻小型太阳能、氢能无人机的发展历程；梳理了相关的关键技术，并对太阳能、氢能无人机的总体设计方法和能源动力系统的发展进行了较为深入的探讨；最后，展望了该类无人机的发展趋势，并对所面临的挑战进行了预测。     

固定翼无人机航磁探测系统的磁补偿模型分析

近年来,无人机的应用日益广泛,逐渐用于航空物探。在使用固定翼无人机搭载磁力仪进行航磁测量时,必然引入飞行平台干扰,包括与机动无关的干扰和与机动有关的干扰。去除和飞机机动有关的磁干扰,即为磁补偿工作。航磁补偿的经典TOLLES-LAWSON模型将磁干扰分为剩余磁场、感应磁场和涡流磁场。对于固定翼无人机,涡流磁场可以不考虑,将剩余磁场和感应磁场合称为稳态干扰场。主要对飞机干扰的来源和性质进行分析,并在地面设计实验验证铁磁性材料的性质,以加深对磁补偿模型的假设和推导过程的理解。最后,在地面实验平台上测量了飞机磁干扰场的平面分布图,指导航空磁力仪的安装。在将TOLLES-LAWSON模型应用于固定翼无人机航磁探测系统的磁补偿工作时,无人机与有人机相比,在结构和材料方面都有较大差异,因此对模型的物理意义和假设条件的深入理解至关重要,此即本文所述工作成果的出发点。     

无人机综合检测技术研究

论述了无人机综合检测技术的重要性,提出了无人机综合检测系统的总体设计技术要求和结构模型,并具体给出了其硬件和软件的设计思路与技术实现途径,最后分析总结了无人机综合检测技术的发展趋势。     

浅析固定翼飞机空投鱼雷的基本原理

针对固定翼飞机空投鱼雷的特点,给出了投雷瞬间的空间矢量图,建立了投放瞄准数学模型,分析了方向瞄准和距离瞄准的计算方法。     

无人机中继平台覆盖区域统计模型简

 针对中继信号覆盖区域确定性模型没有考虑信道随机衰落影响的问题,提出了一种基于中断概率的无人机（UAVs）中继平台信号覆盖半径统计模型。通过将中继链路建模为包含路径损耗、阴影衰落和多径衰落的复合分布模型,推导获得中继信号覆盖半径的概率分布,并给出一种利用中断概率数值求解覆盖半径的方法。仿真结果表明,信道衰落对覆盖半径影响非常大,当中断概率小于10%时,覆盖半径仅为无衰落信道时的一半。研究结果对移动自组织网络（MANETs）中的中继网络的无人机最优布置、飞行策略以及网络性能评估等具有重要的参考价值。     

支线货运无人机的发展现状、运行方式与关键技术分析

支线货运无人机为偏远地区、山地、高原、海岛和城市快捷货运等提供了一种更经济、更高效的物资运输方式,并在应急救援和前线补给中发挥着重要作用。本文回顾了支线货运无人机的国内外发展现状,对比了支线货运无人机与有人机、陆地交通之间的竞争优势,论述了当前技术条件下支线货运无人机相对安全的运行方式——点对点管道飞行,并分析了支线货运无人机需要解决的关键技术,包括适航技术、飞行器平台技术、智能控制技术、数据链路技术、导航技术和自主起降技术等。支线货运无人机的广泛应用需要开展体系性建设工作,重视运行风险,除平台研制外,还必须关注法律法规、空域管理、飞行管理、机场设施等方面的工作。     

Improving aircraft aerodynamic performance with bionic wing obtained by ice shape modulation

For Unmanned Aerial Vehicles (UAVs) with limited electrical power to achieve effectively anti-/de-icing at the leading edge of the wing, a strategy of ice shape modulation was proposed. Isolated simulated ice shape pieces printed by 3D printing technology are mounted on a NACA0012 finite wing model, and its lift/drag coefficients and suction-side velocity fields are measured by the six-component force balance and the Particle Imaging Velocimetry (PIV), respectively. The ratio of the spanwise length of a single ice shape piece to chord length and the spanwise length of the non-icing area between the two adjacent single ice shape pieces are defined as dimensionless ice shape length (w/c) and dimensionless modulation ratio (w/λ), respectively. The results indicate that for a fixed w/λ, the wing lift coefficient first increases and then drops with increasing w/c, and a peak value exists when w/c is between 0.1 and 0.2. The lower the w/λ is, the higher the wing lift coefficient will be. The periodical variation of the flow separation area along the spanwise direction is attributed on the one hand to the acceleration effect of the flow field in the non-icing area which reduces the separation area, and on the other hand to the cross-flow caused by the streamwise vortices from the non-icing area to the icing area which promotes the mixing of the flow field (similar to vortex generators). The obtained modulation law is verified through flight tests and provides guidance for the use of ice shape modulation scheme for UAVs that cannot be completely anti-/de-icing under severe weather conditions.     

无人集群组网系统相对定位技术研究

针对大规模无人集群在卫星导航拒止环境下的相对定位需求，研究一种基于无人集群自组网数据链测距的相对定位技术，通过集群组网测距信息构建广义距离平方阵，经过双中心处理化和特征值分解后即得到相对定位结果，最后通过仿真评估了该方法在不同测距误差和不同集群规模下的定位精度。结果表明：测距误差是影响定位性能的最主要误差来源，当节点数大于30时定位误差受节点个数影响较小。     

Prediction of electric-powered fixed-wing UAV endurance

To overcome the problems encountered in predicting the endurance of electricpowered fixed-wing unmanned aerial vehicles (UAVs),which were stemmed from the dynamic changes in electric power system efficiency and battery discharge characteristics under different operating conditions,the required battery power model and battery discharge model were studied.The required battery power model was determined using an approximate model of electric power system efficiency based on wind tunnel testing and the self-adaptive penalty function.Furthermore,current correction and ambient temperature correction terms were proposed for the trained Kriging model representing the discharge characteristics under standard operation,and then the discharged capacity-terminal voltage model was established.Through numerical integration of this model with the required battery power model,the electric-powered fixed-wing UAV endurance prediction model was obtained.Laboratory tests indicated that the proposed endurance model could precisely calculate the battery discharge time and accurately describe the battery discharge process.The similarity of the theoretical and flight test results reflected the accuracy of the proposed endurance model as well as the importance of considering dynamic changes in power system efficiency in endurance calculations.The proposed endurance model meeting precision requirements can be used in practical engineering applications.