一种基于高次样条的直升机四维飞行航迹规划方法  

A four-dimensional flight trajectory planning method for helicopters based on high-order splines

作　　者：祁鸣东 盛守照[2] 曹植 黄天宇 田佳 仇是 QI Mingdong;SHENG Shouzhao;CAO Zhi;HUANG Tianyu;TIAN Jia;QIU Shi(Xi'an Flight Automatic Control Research Institute,AVIC,Xi’an 710076,China;School of Automation,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]中航工业西安飞行自动控制研究所,西安710076 [2]南京航空航天大学自动化学院,南京210016

出　　处：《导航定位学报》2025年第1期155-161,共7页Journal of Navigation and Positioning

基　　金：航空科学基金项目(20220058052002)。

摘　　要：为了进一步优化具有多约束的直升机四维飞行航迹规划,提出一种基于高次样条的直升机四维飞行航迹规划方法:综合考虑四次样条不能兼顾航迹急动度的连续性和五次样条拟合较少离散航点存在的过拟合现象,给出通过离散采样四次样条四维飞行航迹构建基于五次样条飞行航迹的思路,以有效保证航迹的平滑性和舒适性;然后设计包括平滑度、偏移度的航迹优化性能指标,提出一种粒子群优化(PSO)算法与算子分裂二次规划(OSQP)相结合的四维飞行航迹参数优化方法。仿真结果表明,该方法可兼顾优化的收敛性和全局最优性,获得的四维飞行航迹能够满足各项约束要求。In order to further optimize the four-dimensional flight trajectory planning of helicopters with multiple constraints,the paper proposed a four-dimensional flight trajectory planning method for helicopters based on high-order splines:it was comprehensively considered that the quartic spline cannot take into account the continuity of trajectory jerk and the possible over-fitting phenomenon in fitting low discrete waypoints with the quintic spline,and the idea of constructing a flight trajectory based on quintic spline by discretely sampling the quartic spline four-dimensional flight trajectory was given,for efficiently guaranteeing the smoothness and comfort of the flight path;then the trajectory optimization performance indexes including smoothness and offset were designed,and a four-dimensional flight trajectory parameter optimization method combining particle swarm optimization(PSO)algorithm and operator splitting quadratic program(OSQP)was put forward.Simulational result showed that the proposed method could take into account both the convergence and global optimality of the optimization,and the obtained four-dimensional flight trajectory could meet the requirements of various constraints.

关 键 词：四维飞行规划 五次样条曲线 四次样条曲线 算子分裂二次规划(OSQP) 粒子群优化(PSO)算法 

分 类 号：V249[航空宇航科学与技术—飞行器设计] P228[天文地球—大地测量学与测量工程]