固定翼无人机定点飞行最优路径选择

摘要

针对固定翼无人机路径规划复杂、航迹冗余、偏离度高等特点，通过建立三维空间空气动力学模型，标定预置坐标，根据常规气动布局下的空气动力学原理、PID算法、环境等因素对航迹网格点进行管理。采用改进的动态规划算法，对如何准确、快速地计算出连贯预定坐标的最佳路径进行了研究。飞控计算机通过动态对比、状态预测算法，对路径进行实时对比、矫正、重新规划，使无人机能沿着贯穿预定坐标的最佳路径完成既定飞行任务。%For the features of fixed-wing UAV, e. g. , complex path planning, redundant flight track, and high degree of deviation, through setting up the aerodynamics model of three -dimensional space, calibrating the preset coordinates, and according to the factors of aerodynamic principle, PID algorithm, and environment under conventional aerodynamic layout, the flight track grid points are managed. With the improved dynamic planning algorithm, the method for accurately and quickly calculating the optimal path of coherence predetermined coordinates is researched. The paths are compared, corrected and re-planned in real time by flight control computer through dynamic contrast and state prediction algorithms, thus the UAV can accomplish the established flight mission along the optimal path with predetermined coordinates.