一种无人机定距盘旋跟踪制导律及稳定性证明

对地面目标的定距盘旋跟踪问题是无人机（UAVs）在任务应用阶段需要面临的重要问题之一，如何在传感器信息受限的情况下完成跟踪任务是目前的研究热点。首先针对地面固定目标设计了一种仅依赖测距传感器的制导律，不再需要传统的视线角信号以及目标和无人机自身的定位信息；其次，设计了李雅普诺夫函数对该制导律的稳定性进行了严格数学证明；最后，将该制导律推广到对地面匀速和变速移动目标的跟踪制导。相比于现有制导律，所提出的制导律结构更为简洁，仅有一个设计参数，并且制导策略更为合理。仿真结果表明所提出的制导律能够实现无人机对地面固定和移动目标的稳定跟踪。

UAV guidance law for circumnavigating and tracking ground target and its stability proof

One typical application of unmanned aerial vehicles (UAVs) is made for the mission of circumnavigating and tracking ground targets, and how to complete the tracking task with limited sensor information remains a hotspot of current research. This paper develops a guidance law which relies only on distance measuring sensor, and does not need traditional bearing signal and location of UAV or ground target. A Lyapunov function is derived to prove the stability of the proposed guidance law. This guidance law is extended to the tracking of moving ground target with constant and time-varying speed. Comparing with existing ones, this guidance law is superior with simpler structure (only one parameter) and more reasonable guidance strategy. Simulation results show that the proposed guidance law can accomplish stable tracking of stationary and moving ground targets.