无人机跟踪地面非合作目标的分段引导与控制方法

摘要

针对固定翼无人机跟踪地面非合作目标问题,设计了一种产生期望航向角的分段引导律和无人机转向控制律.建立了问题的求解模型,分析了无人机跟踪地面非合作目标的两种情形:避免暴露和最小化暴露时间.证明了设计的引导律和控制律可以在安全状态下控制无人机避免暴露,在暴露状态下控制无人机最小化暴露时间.理论分析和仿真实验结果表明,设计的引导律和控制律能够控制无人机有效的跟踪地面非合作目标.%The problem of non-cooperative ground target tracking using unmanned aerial vehicles(UAVs) is dealt with. A segment guidance law and a heading rate control law are proposed to achieve the tracking. Firstly, a model of the problem is established. Exposure avoidance and minimizing the exposure time are studied respectively in terms of the initial state of the UAV. Secondly, the proposed approach is proved to be successful in dealing with the problem. Finally, theoretical analysis and simulation results demonstrate the effectiveness of the proposed approach.