固定翼无人机锥形螺旋线飞行导航控制方法  

Conical spiral flight navigation control method for fixed-wing UAV

作　　者：郑积仕 孟凡茹 陈兴武 赖宏图 刘丽桑 ZHENG Jishi;MENG Fanru;CHEN Xingwu;LAI Hongtu;LIU Lisang(Fujian Province Key Laboratory of Automotive Electronics and Electric DriveFuzhou 350118,China;School of Information Science and Engineering,Fujian University of Technology,Fuzhou 350118,China)

机构地区：[1]福建省汽车电子与电驱动重点实验室,福建福州350118 [2]福建工程学院信息科学与工程学院,福建福州350118

出　　处：《飞行力学》2020年第5期37-43,共7页Flight Dynamics

基　　金：福建省科技厅自然科学基金资助(2016H0028,2017J01728,2018J01640);福建工程学院人才启动基金资助(GY-Z160124,GY-Z12079)。

摘　　要：固定翼无人机飞行任务日益复杂,精确跟踪三维曲线的导航控制方法是满足其复杂飞行任务的关键技术。在L1-Navigation非线性导航控制算法的基础上,提出了一种锥形螺旋线导航控制方法。首先,构建锥形螺旋线在空间球体坐标系的数学模型,定义锥形螺旋线,设定无人机螺旋线旋转飞行的中心位置;其次,以螺旋线中心点为目标航点,在水平方向以无人机距离螺旋线中线点的距离作为螺旋线旋转半径,从而构建完整的导航控制算法;在纵向平面构建无人机高度与旋转半径的函数式,设计高度控制算法;最后,在Ardupilot开源飞控平台进行了模拟飞行与测试,测试结果表明了所提出方法的有效性。The flight tasks for fixed-wing UAVs are becoming more and more complicated. The navigation control of accurately tracking three-dimensional curves is the key technology for the complicated tasks. This paper proposes a navigation control method of cone-shaped spiral curve based on the algorithm of the nonlinear L1-Navigation control. First, a mathematical model of the cone-spiral curve is constructed in the space sphere coordinate system and the cone spiral curve is expressed in it. Second, set the central position of the UAV spiral curve for the rotation flight and configure the central point of the spiral curve as the target waypoint, and take the distance between the midpoint of the aircraft and the spiral curve as the rotation radius of the spiral curve to build a complete navigation control algorithm. In the vertical direction, a function formula for the height and rotation radius of the drone is constructed and the height control algorithm is designed. Finally, the simulation flights are tested in the Ardupilot which is a leading open source platform for UAVs. The test results show the effectiveness of the proposed method.

关 键 词：固定翼无人机 导航控制 锥形螺旋线 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249