基于数字地图的亚音速飞行器最优地形跟随  

Optimal Terrain Following for Subsonic Aircraft Based on Digital Map

作　　者：董超 王彪[1] 黄鹏程 唐超颖[1] 魏东辉 DONG Chao;WANG Biao;HUANG Pengcheng;TANG Chaoying;WEI Donghui(School of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;Lab.of Science and Technology on Complex System Control and Intelligent Agent Cooperation,Beijing 100074,China)

机构地区：[1]南京航空航天大学自动化学院,南京211106 [2]复杂系统控制与智能协同技术重点实验室,北京100074

出　　处：《计算机测量与控制》2021年第11期95-99,共5页Computer Measurement &Control

基　　金：装备预研航天科工联合基金(6141B07090114)。

摘　　要：针对真实高山地形设计了一套地形跟随系统;首先,根据数字地图结合航迹规划算法生成参考航迹;接着设计了一个基于滚动时域优化的航迹控制器,用于跟踪航迹、稳定速度并处理约束,将预测时域内的航迹点作为参考输入,通过最小化跟踪误差以及滚动优化实时求解控制量;仿真结果表明,与基于适应角导引的地形跟随系统相比,文章的方法具有更好的性能,能够满足亚音速飞行器地形跟随任务需求。This paper designs a terrain-following system based on the real mountain terrain.First,the reference path is generated using the digital map and the path planning algorithm.Then a controller based on receding horizon optimization is designed for simultaneous path following,speed stabilization and constraint handling.The waypoints in the predictive horizon are used as reference input,and the control input is solved in real time by minimizing the tracking error.The simulation results show that compared with the terrain following system based on the adaptive angle guidance,the method in this paper has better performance and can meet the requirements of the terrain following task for subsonic aircraft.

关 键 词：地形跟随 三次样条 航迹跟踪 滚动时域控制 撞地概率 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]