基于平行接近法的固定翼无人机协同编队导引律  

Coordinated formation guidance law of fixed-wing unmanned aerial vehicles based on parallel approach method

作　　者：龚正[1] 吕全辉 周瓒 王子安 魏东辉 Gong Zheng;Lv Quanhui;Zhou Zan;Wang Zian;Wei Donghui(College of Aviation,Nanjing University of Aeronautics and Astronautics,Ministerial Key Laboratory of Unsteady Aerodynamics and Flow Control,Nanjing 210016,China;China Academy of Launch Vehicle Technology,Beijing 100076,China;Key Laboratory of Complex System Control and Intelligent Collaborative Technology,Beijing 100074,China)

机构地区：[1]南京航空航天大学航空学院,非定常空气动力学与流动控制工信部重点实验室,南京210016 [2]中国运载火箭技术研究院,北京100076 [3]复杂系统控制与智能协同技术重点实验室,北京100074

出　　处：《战术导弹技术》2024年第1期113-122,131,共11页Tactical Missile Technology

基　　金：国家自然科学基金(11402115)。

摘　　要：针对固定翼无人机协同编队飞行,提出了一种低速固定翼无人机协同编队导引律,旨在形成一种灵活性较高的半刚性编队。以低速固定翼无人机为对象,分析了长机-僚机在编队飞行中的纵横航向运动关系。其次根据长机追随航线,僚机追随长机的飞行任务特性和航线的一般特点,进行了直线、转弯、盘旋三种导引模式的长机导引律设计。再根据长机飞行位置,设立虚拟动态跟踪点,综合僚机位置信息,设计了基于平行接近法的协同导引律,并对导引律的响应速度和稳定性进行了验证。通过分析仿真机的半实物仿真及实测飞行的结果,验证了该导引律具有较好的制导性能和较高的机动稳定性,在特定飞行任务中能够满足对无人机编队飞行的控制需求。Aiming at developing a semi-perfect rigid formation with high flexibility,a law based on the leader-follower mode for the low-speed fixed-wing unmanned aerial vehicles(UAV)is proposed.The formation law takes a lot of inspiration from the parallel approach method which has been widely used inmissile guidance. The formation flight of the UAV is realized by using the vehicles to pursue the virtual target.Considering the mission characteristics of the route following, three navigation measures, including straightflight, turning and circling are designed. Through the method of the semi-hard-constraint formation, thecooperation of the flight is strengthened as well as the hard constraint of the course angle is released. Inaddition, an algorithm based on the requirement of the formation pattern and relative position of the leader andfollower is proposed. The algorithm can get the virtual target in real-time and is evaluated in the aspect of thespeed of response and stability. The effectiveness of the formation guidance law is validated using thehardware-in-loop simulation and flight test.

关 键 词：动态位置跟踪 协同编队 半刚性编队 平行接近法 飞行验证 半实物仿真 协同导引律 

分 类 号：V279[航空宇航科学与技术—飞行器设计]