无人机地形预处理低空突防轨迹规划技术  

Low Altitude Penetration Trajectory Planning for Unmanned Aerial Vehicle( UAV) Terrain Pre-processing

作　　者：翁兴伟[1] 董康生[1] 陈诚[2] 程华[1] 

机构地区：[1]空军工程大学航空航天工程学院 [2]中国人民解放军95948部队

出　　处：《现代防御技术》2015年第4期19-24,98,共7页Modern Defence Technology

摘　　要：针对无人机低空突防飞行问题,提出了一种基于飞行器最大过载约束、爬升角约束和速度约束的数字地形直接平滑技术,设计了多步判断逻辑和山峰保护逻辑以提高平滑收敛速度和对山峰的保护,生成满足无人机飞行性能约束的安全可飞行曲面;在此曲面上进行轨迹规划,避免了复杂的轨迹可飞性和安全性处理工作,提高了轨迹规划效率;利用正交配点法将无人机轨迹规划问题进行离散化,转化为非线性规划问题,并利用序列二次规划方法进行攻击轨迹求解。仿真表明,该技术能快速生成可飞行的攻击轨迹。Aiming to solve the problem of low altitude penetration for unmanned aerial vehicle （ UAV）, a digital terrain direct smooth method is proposed based on constraint of max overload, club an- gle and speed. Safe and flyable cure generated with this method can meet constrains of UAV flight performance. Complex process of flyability and safety is avoided by means of planning on this curve and thus the efficiency of trajectory planning is improved for UAV. The problem of UAV trajectory planning is discretized by using orthogonal collocation and is conversed into nonlinear programming problem （NLP） , and then optimum trajectory is acquired by using sequential quadratic programming method to solve the transformed NLP. Simulation results show that the proposed method can quickly generate flyable attacking trajectory.

关 键 词：地形预处理 无人机 安全可飞行曲面 正交配点法 轨迹规划 

分 类 号：V279[航空宇航科学与技术—飞行器设计]