基于Markov的察打无人机数据链时延建模与补偿研究

为了改善在数据链时延情况下察打无人机的性能,对造成时延的因素及影响进行了分析,在此基础上对数据链时延进行了合理的假设和简化。并对无人机整个控制回路的各个节点的响应方式,提出了一种时间-事件-事件-时间驱动方式,使得无人机数据链的时延序列具有Markov性,同时给出了状态转移矩阵的求取方法。为了改善无人机的响应特性,采用最优控制的方法对时延进行了补偿,并基于某无人机平台验证了补偿方法的有效性。仿真结果表明,该方法的引入使得无人机的动态响应特性有了显著提高。

Research on modeling and compensation method for datalink delay of RSIUAV based on Markov theory

This paper improves the performance of RSIUAV while considering the datalink delay.At the beginning,this paper analyzes the factors which induce the delay,reveals the influence of the delay and makes reasonable assumption and simplification to datalink delay.Then,in order to get the datalink delay to observe Markov chain,the paper gives a brand new data-driven mode,the corresponding Markov state transition matrix is given also.Finally,for compensating the delay,this paper uses optimal control method and verifies the effect based on a kind of RSIUAV.The simulation result shows that the application of modeling and compensation method distinctly improves the dynamic corresponding characteristic of RSIUAV.