风场情形基于视觉的无人机地面目标跟踪控制律设计

摘要

分析了风场对无人机航迹角的影响,定义空速、风速、目标运动速度的合向量为参考速度,将风场情形运动目标跟踪问题转化为以参考速度跟踪静止目标的情形.在静止目标跟踪航向控制律基础上,设计了一种风场情形基于参考速度的无人机地面目标跟踪航向控制律,使参考速度与摄像机视线垂直且无人机与目标水平距离为指定值.不同风速条件下的目标跟踪仿真验证了控制律的有效性.%The influence of wind on UAV's track angle is analysed. A reference velocity is defined as the combination of airspeed vector, wind and target velocity, and the moving target tracking in wind is transformed into static target tracking with a reference velocity, a new guidance law is designed for UAV ground target tracking in wind based on the static target tracking guidance law, which makes the reference velocity be perpendicular to the camera line-of-sight and maintains a designed horizontal distance between UAV and target. The guidance law is validated by target tracking simulation with different wind speeds.