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无人机在未来作战中的作用逐渐多样化，航路跟随能力将成为发挥无人机作战效能的关键支撑技术。针对固定翼无人机跟随复杂航路的需求，提出一种基于非线性模型预测控制的航路跟随制导方法。该方法通过引入沿预定复杂航路变速运动的参考点，在Serret-Frenet坐标下建立航路跟随的位置和航迹方位角误差模型，结合无人机滚转能力以及动参考点速度约束等，构建了航路跟随的非线性优化问题，采用基于精英保留策略的混沌粒子群算法，求解得到了跟随复杂航路的制导指令。仿真结果表明，该方法可实现使复杂航路稳态跟随精度达到米级，并具有较强的抗风扰能力。
Abstract：With the increesing diversification of the unmanned aerial vehicle(UAV) in the future combat,path-following capability will be the key supporting technology in combat effectiveness of UAVs. Aiming at the requirements of complex path-following of fixed-wing UAV, a path-following guidance method based on nonlinear model predictive control is proposed. By introducing reference points moving in variable speed along a predetermined complex path, the position and flight-path angle error model of the path-following in SerretFrenet frame is established. Then, the nonlinear optimization problem of the path-following is established by combining the rolling capability of the UAV and the velocity constraint of the moving reference points. Using the chaotic particle swarm optimization algorithm based on elite reservation strategy, the guidance instructions to follow complex paths are obtained. The simulation results show that the proposed method can realize the steady-state following accuracy of complex path reach meter level and has a strong ability to resist wind disturbance.
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Basic Information:
DOI：10.16358/j.issn.1009-1300.20220264
China Classification Code:V279
Citation Information:
[1]薛宝山,李春涛,苏子康等.滚转机动受限的无人机复杂航路跟随制导方法[J].战术导弹技术,2023,No.221(05):104-113.DOI:10.16358/j.issn.1009-1300.20220264.
Fund Information:
国家自然科学基金（61903190）; 航空科学基金（2019ZA052006）; 中国博士后科学基金资助项目（2020M681588）; 无人机特种技术重点实验室基金资助（2022-JCJQ-LB-071）