无人机航迹跟踪抗侧风制导算法

无人机作为航空飞行器的一种,具有诸多应用价值,精确的航迹跟踪是其完成飞行任务的必要条件。在无人机飞行控制系统的制导外回路,实现一种具有抗风性能的横向非线性制导算法(NLG),基于航迹参考点实时测算无人机侧向加速度,并根据无人机力学方程得到滚转角指令,实现无人机的航迹跟踪。该制导算法只需确定合适的距离参数L,即可实现较为精确地制导,加入反馈环节以得到改进的闭环非线性制导算法。在侧风条件下进行仿真分析,结果表明:改进后的非线性制导算法是正确的,其具有良好的抗风性能。

Guidance algorithm with lateral wind resistance for UAV path tracking

As a kind of the aeronautic aircraft, UAV(unmanned aerial vehicle) is born to have practical application value. A NLG(non-linear guidance) algorithm for UAV path tracking is actualized in the guidance outer-loop of the UAV flight control system, which is abstractly to have the wind resistance. Based on the virtual target on the path, the algorithm will instantaneously calculate the desired lateral acceleration of the UAV, and then get the roll angle command by the UAV motion equation. This guidance method can work on quite accurately only with the appropriate distance parameter L. To make up for the offset induced by the control inner-loop, a feedback term is considered and added into the original algorithm to get the modified one in closed loop. Simulation experiments were conducted under the lateral windy settings. Both the modified nonlinear guidance algorithm and the PLOS(pure pursuit with light of sight) algorithm were tested and compared. The results show the validity of the modified nonlinear guidance algorithm, and illuminate the wind resistance of it.