摘要
为解决无人机单机任务的不足,提出了一种多参数分段式无人机轨迹规划方法,并基于此完成了四种编队队形的设计,设计并实现了多无人机编队飞行控制系统。通过开展编队飞行试验验证发现,轨迹跟踪偏差小于0. 16m,多自由度飞行速度平均误差0. 0093m/s,多无人机间距远大于无人机轴间距的2倍,验证了编队飞行控制系统的有效性。
A multi parameter and piecewise method of multi unmanned aerial vehicle trajectory planning was proposed to solve the shortage of task ability of single unmanned aerial vehicle, which was used to design four formation patterns. A multi unmanned aerial vehicle formation flight control system was designed and a formation flight experiment was carried out. The deviation of trajectory tracking was less than 0.16m, the average flight speed deviation was 0. 0093m/s , and the spacing of multi unmanned aerial vehicle was far longer than the requirement of axis spacing. Thus, the model of flight control system was verified by comparing with flight experiment.
作者
单俊杰
赖水清
SHAN Junjie;LAI Shuiqing(Wuhan Military Representative Bureau of Navy Equipment Department,Wuhan 430064,Chin;China Helicopter Research and Development Institute,Jingdezhen 333001,China)
出处
《直升机技术》
2018年第3期25-31,67,共8页
Helicopter Technique
关键词
编队轨迹规划
飞行控制系统
轨迹跟踪
formation trajectory planning
flight control system
trajectory tracking
