基于改进滑动窗多项式拟合法的 航空器4D航迹预测

准确的航迹预测是提升无人机飞行防相撞空中威胁态势预警能力的基础,针对入侵机,提出一种改进滑动窗多项式拟合航迹预测方法。主要进行两方面改进:一是对当前值之后的数个未来值预测时,为各个预测值在滑动窗内构建合适的多项式拟合方程;二是依据当前航迹值与此前有限个连续航迹值所反映出的目标运动模式信息,自适应调整拟合多项式阶数与滑动窗长度。结果表明:较之传统滑动窗多项式拟合法,本文方法具有更高的航迹预测精度,能够在一定程度上改善非合作航空器的航迹预测精度,验证了其在航迹预测中的可行性和有效性。     

Extended dynamic system modulation for real-time obstacle avoidance

In this paper, a novel real-time obstacle avoidance method based on Dynamic System(DS), is proposed. The proposed method ensures the impenetrability of multiple convex obstacles by online modulating the original velocity field of the DS. It can be applied to perform obstacle avoidance in the state space of the DS with both autonomous and non-autonomous DS-based controllers. While realizing the obstacle avoidance, the equilibrium points of the original DS can be saved. The modulation matrix form ...     

高空长航时无人机结构重量估算方法研究

在对高空长航时无人机总体参数统计数据分析的基础上,利用线性回归分析的方法并结合工程实践经验推导出高空长航时无人机结构重量估算公式;以美国的高空长航时无人机"全球鹰"(global hawk)为例进行估算,结果验证了结构重量评估公式的合理性和可用性;在此评估公式的基础上运用数学方法推导出反映高空长航时无人机总体参数变化与结构重量变化规律的数学公式,并对总体参数的敏感性进行了分析.在飞机总体设计过程中,充分考虑总体设计参数对飞机各部分结构重量的影响规律,就能够使高空长航时无人机结构重量的估算结果更加准确合理.     

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.     

A data driven approach for detection and isolation of anomalies in a group of UAVs

The use of groups of unmanned aerial vehicles(UAVs) has greatly expanded UAV’s capabilities in a variety of applications, such as surveillance, searching and mapping. As the UAVs are operated as a team, it is important to detect and isolate the occurrence of anomalous aircraft in order to avoid collisions and other risks that would affect the safety of the team. In this paper, we present a data-driven approach to detect and isolate abnormal aircraft within a team of formatted flying aerial vehicles, which removes the requirements for the prior knowledge of the underlying dynamic model in conventional model-based fault detection algorithms. Based on the assumption that normal behaviored UAVs should share similar(dynamic) model parameters, we propose to firstly identify the model parameters for each aircraft of the team based on a sequence of input and output data pairs, and this is achieved by a novel sparse optimization technique. The fault states of the UAVs would be detected and isolated in the second step by identifying the change of model parameters.Simulation results have demonstrated the efficiency and flexibility of the proposed approach.     

面向地面无人平台的仿生偏振光定向算法

仿生偏振光定向为地面无人平台提供了一种新型的低成本、小型化定向方式。设计了一种基于微阵列式偏振光栅的仿生光罗盘,实现了一种加权平均的偏振光定向算法,分析了大气偏振模式误差、太阳位置误差、偏振光传感器误差和水平姿态角误差等因素对航向角估计精度的影响。实验结果表明,动态车载条件下定向误差小于0.5°。     

火星探测无人机任务规划与建模分析

利用无人机进行火星探测, 具有探测范围广、可看到地形变化等优点. 介绍了火星探测无人机总体任务规划的情况, 讨论了探测无人机在火星与地球上飞行的区别, 建立了火星探测无人机纵向非线性模型, 并在平衡点对非线性模型进行泰勒展开, 得到线性化模型. 通过对线性模型的进一步分析, 掌握了火星探测无人机的稳态性能及飞行特点.      

基于维纳滤波法的提高无人机测高精度方法研究

无人机高精度高度保持装置,通常采用误差相对较小的无线电高度表来作为测量高度或高度差的传感器。无线电高度表在海面上测高时,由于海杂波以及自身噪声等随机干扰信号的影响,会产生较大误差。为消除或减小海杂波以及自身噪声等随机干扰信号对无线电高度表的影响,需要对无线电高度表输出信号进行必要的处理。本文着重论述采用维纳滤波法最优估计技术来设计提高无线电高度表抗干扰的措施方法。     

一种通用型无人机飞行控制与导航系统

介绍一种通用型智能化无人机的飞行控制与导航系统的设计,阐述了系统组成、飞行控制功能、飞行管理功能和导航功能的实现,以及利用Tornado集成开发环境设计的软件系统。该飞行控制与管理系统,采用数字计算机作为核心控制部件,配以GPS导航系统、各种机载传感器、垂直陀螺和舵机等构成。具有手动遥控飞行、程控飞行和远距遥控加载数据三种飞行模式。手动飞行采用独创的开关指令式控制,可减轻操纵员的工作强度,提高飞行的可靠性、安全性。整个系统体积小、重量轻、可移植性高,适用于各种中小型无人机。该系统已用在某型无人机上,经过试飞验证,性能良好,可靠性强。     

基于ISA总线的无人驾驶直升机遥测数据地面处理系统

本系统对共轴式双旋翼无人驾驶直升机机载遥测数据采集系统发回的遥测数据进行码同步、帧同步、解密、信道解码等处理 ,并将恢复后的数据帧保存在缓存中。计算机监控程序通过 ISA(Industry Standard Architecture)总线 ,使用内存映像的方式访问数据并进行后续处理。本系统的码同步部分、用作缓存的双口 RAM以及 ISA总线接口部分使用 CPL D(ComplexProgrammable L ogic Device)实现 ,帧同步、解密和解码功能由单片机完成。系统结构简洁、功能可靠、体积小、重量轻 ,非常适合移动的车载遥测地面站。