一种小型无人机侦察吊舱目标定位方法  

A Target Locating Method for Small UAVs with Reconnaissance Pod

作　　者：黄佳[1,2] 崔乃刚 HUANG Jia;CUI Naigang(Institute of Systems Engineering,China Academy of Engineering Physics,Sichuan Mianyang 621900,China;School of Astronautics,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]中国工程物理研究院总体工程研究所,四川绵阳621900 [2]哈尔滨工业大学航天学院,哈尔滨150001

出　　处：《弹箭与制导学报》2019年第5期103-106,共4页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：提出一种仅依靠无人机导航信息与侦察吊舱测量信息而无需激光测距仪数据的目标定位方法。利用速度与角速度在旋转坐标系的相对关系求出无人机与目标的相对距离,根据几何关系以及无人机自身位置解算出目标绝对位置。仿真结果表明尽管导航误差、侦察吊舱测量误差等误差源会导致不同程度的目标定位误差,但是对于静止目标和低速目标的定位精度可满足大部分小型无人机定位精度要求。This paper proposes a new target locating method, which only uses the data from navigation system and reconnaissance pod but doesn’t need the data of laser rangefinder. First, the distance between the unmanned aerial vehicle(UAV) and the target was obtained using the relationship between velocity and angular velocity in a rotating coordinate system. Then, the absolute location of the target was solved using the geometrical relationships and the location of the UAV. The simulation results show that some error sources, such as the errors of navigation data, the measurement errors of reconnaissance pod, etc., can result in locating errors in different levels. But the location accuracy of stationary and low-speed targets can meet the requirement for most small UAVs.

关 键 词：目标定位 小型无人机 侦察吊舱 定位精度 

分 类 号：TJ013.2[兵器科学与技术—兵器发射理论与技术]