基于B样条的直升机航迹处理方法  

Processing of Helicopter Trajectory Based on B-spline

作　　者：李栋[1] 冯婷 

机构地区：[1]北京航空航天大学航空科学与工程学院,北京100083 [2]陆航研究所,北京101114

出　　处：《航空计算技术》2008年第1期32-35,共4页Aeronautical Computing Technique

摘　　要：为满足航迹规划中最优航迹的要求,需要对参考航迹进行处理。提出了一种基于B样条曲线的直升机航迹后处理方法,方法以改进蚁群算法生成的参考航迹为基础,利用B样条曲线自身连续性、局部性、曲率变化均匀等特性,并根据直升机低空飞行的过载、最大飞行速度等限制条件,对参考航迹的航迹点进行修正和插值。B样条曲线也有利于对航迹进行局部重规划,可以满足出现意外情况时航迹修改和调整的要求。对B样条处理后的航迹采用广义预测方法(GPC)进行跟踪控制,并与线性插值处理得到的航迹进行比较,从航迹控制的角度验证了该后处理方法可以提高跟踪控制的性能和操纵品质。In order to search the optimal trajectory in the planning, the reference trajectory needs to be processed. A method on post- rocessing of helicopter trajectory based on B- pline was established. On the basis of the reference trajectory derived from the improved ant colony algorithm, the points on the reference trajectory can be interpolated on the basis of B- spline characteristics, including continuity, locality and mean variation of the curvature. Simultaneously, these points need to be modified in terms of the limitation of the helicopter in the low altitude flight, which comprised the load, maximum forward velocity and other parameters. On the other hand, the utilization of B - spline was used for the replanning, which can be fit for the rectification of the trajectory in accidental condition. Using the Generalized Predict Control （GPC） , the processed trajectory can be tracked eventually. Comparing with the linear interpolation, the method can improve the performance of the tracing control and handling quality from the point of view of flight path control.

关 键 词：航迹 规划 B样条 广义预测控制 

分 类 号：V391.9[航空宇航科学技术]