摘要
为使所获俯仰角、滚转角、偏航角跟踪结果均与无人机实际运动轨迹保持一致,实现对整条行进轨迹的准确追踪与控制,设计基于北斗通信技术的无人机运动轨迹跟踪控制系统;定义北斗通信系统的运维报文、通知协商报文、业务数据报文3种不同格式的协议文件,提升通信数据的实时传输能力;以此为基础深入分析无人机飞行器的内部结构组成,再结合大量行进姿态数据,完成对无人机运动轨迹跟踪控制系统的动力学建模;确保主供应电路的顺畅连接,将通信数据匹配至全驱动运动结构、姿态调节器、自适应控制器、轨迹追踪器四类硬件应用结构中,实现无人机运动轨迹数据的准确、实时传输;完成系统的主控结构设计;联合所有软、硬件运行条件,实现基于北斗通信技术的无人机运动轨迹跟踪控制系统设计;根据实验结果可知,所设计系统主机所获得的俯仰角、滚转角、偏航角跟踪结果均与无人机实际运动轨迹相差无几,符合准确追踪完整无人机行进轨迹的应用需求。
In order to keep the obtained tracking results of pitch angle,roll angle and yaw angle consistent with the actual trajectory of the unmanned aerial vehicle(UAV),and to achieve accurate tracking and control of the entire travel trajectory,the UAV trajectory tracking control system based on BeiDou communication technology is designed.Three different protocol format files of maintenance messages,notification negotiation messages and business data messages for BeiDou communication system operation are defined to improve the real-time transmission capability of communication data.Take this as the foundation,the internal structure of the UAV is deeply analyzed,and combined with a large amount of traveling attitude data,the dynamic modeling of the UAV trajectory tracking control system is completed.The smooth connection of the main supply circuit is ensured,the communication data is used to match the four types of hardware application structures of full-drive motion structure,attitude regulator,adaptive controller and trajectory tracker,the accurate and real-time transmission of UAV motion trajectory data is achieved.The system design of the main control structure is completed.All software and hardware operating conditions are combined to realize the design of the UAV motion trajectory tracking control system based on the BeiDou communication technology.According to the experimental results,the tracking results of the pitch angle,roll angle and yaw angle obtained by the designed system host are almost the same as the actual motion trajectory of the UAV,which meets the application requirements of accurately tracking the complete UAV travel trajectory.
作者
黄琴
HUANG Qin(Internet College,Sichuan University for Science&Technology,Meishan 620500,China)
出处
《计算机测量与控制》
2022年第12期137-142,共6页
Computer Measurement &Control
关键词
北斗通信技术
无人机运动轨迹
跟踪控制
航迹角
协议报文
动力学模型
BeiDou communication technology
UAV trajectory
tracking control
track angle
protocol message
dynamics model
