无人机三维航迹非均匀三次B样条平滑算法  

Non-uniform Cubic B-spline Curves Interpolation for UAV 3-D Track Smoothing

作　　者：胡中华[1] 许昕 陈中 HU Zhong-hua;XU Xin;CHEN Zhong(No.38 Institution of CETC,Hefei 230088,China)

机构地区：[1]中国电子科技集团公司第三十八研究所,安徽合肥230088

出　　处：《控制工程》2020年第7期1259-1266,共8页Control Engineering of China

摘　　要：由于无人机航迹规划所获得的初始航迹往往不能满足无人机飞行性能要求,因此必须对航迹进行平滑。本文采用B样条曲线插补法求解航迹的平滑问题。首先,讨论了目前已经开展的航迹平滑方法及其优缺点;然后,根据航迹平滑问题存在的参数分布不均匀的特点,结合B样条基函数及曲线性质,本文采用非均匀三次B样条曲线插补,并给出了算法流程图;最后,为验证该算法的性能,对航迹规划实例进行了仿真。仿真结果表明,采用本文算法所获得的平滑航迹整体过渡非常自然,航向没有突变,且不经过危险区域。该算法不仅实现了曲线的保凸性且经过全部航迹节点,平滑航迹逼近原航迹。因此,航迹油耗代价及威胁代价较原航迹没有显著变化,且满足无人机飞行性能要求。Trough the initial track planning, the flight track often can not meet the requirements of UAV flight performance. It is necessary to smooth the track. In this paper, B-spline curve interpolation method is used to solve the track smoothing problem. First, the current track smoothing methods and their advantages and disadvantages are discussed. Then, according to uneven distribution of the parameters of track smoothing problem, combined with B-spline basis function and B-spline curve properties, non-uniform cubic B-spline curve interpolation is used, and the algorithm flowchart is given. Finally, to verify the performance of the algorithm, one track planning example is simulated. The results show that smooth track with the algorithm has some Advantages, such as natural overall transition, heading no mutation, and not through the danger zone. The smoothing track not only achieve the curve convexity preserving, but also pass all the track nodes. And smoothing track is the approximation of the original track. Therefore, compared to the fuel cost and the threat cost of original track, the cost of smoothing track has no significant change, and the smoothing track can meet the performance requirements of UAV flight.

关 键 词：航迹平滑 航迹规划 B样条曲线 非均匀 插值 三维 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]