地形跟随飞行中光轴搜索策略  

Optical Axis Search Strategies in Terrain Following Flight

作　　者：黄鹏程 王彪[1] 唐超颖[1] 魏东辉 HUANG Pengcheng;WANG Biao;TANG Chaoying;WEI Donghui(College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China;Key Laboratory of Control of Complex Systems and Intelligent Collaboration Technology, Beijing 100074, China)

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

出　　处：《探测与控制学报》2022年第3期79-83,共5页Journal of Detection & Control

摘　　要：针对在地形跟随中使用长焦相机的视野丢失问题,提出光轴搜索策略。该策略采用基于情景判别的分段适配处理方法,通过分析导引特征点与飞行器的相对位置,不改变原导引律的计算复杂度,给出扫描指令。实际地形数据仿真结果证明,使用本策略后能够获得更丰富的地形信息,避免地形点视野丢失的问题,达到更好的地形跟踪效果。Aiming at the loss of view field when using telephoto cameras in terrain following flight,an optical axis search strategy suitable for UAV(Unmanned Aerial Vehicle)terrain following systems was proposed.This strategy adopted the segmented adaptation processing method based on scenario discrimination,and generated a scan command by analyzing the relative positions of the vehicle and feature points that could be used for guidance commands generation.And the strategy did not change the computational complexity of the adaptive angle method.The results of simulation with actual terrain data proved that richer information and a more ideal following effect could be obtained due to the proposed search strategy.

关 键 词：地形跟随 前视探测 搜索策略 适应角法 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]