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基于混合收敛导航向量场的三维航迹跟踪方法

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针对传统导航向量场在固定翼无人机三维航迹跟踪过程中带来轨迹振荡的问题,提出了一种采用混合收敛策略且增益自适应的导航向量场构建方法,实现对无人机三维航迹的稳定跟踪.首先利用期望轨迹误差函数的海瑟矩阵建立导航向量场收敛方向的修正矩阵,提出了一类牛顿方向和梯度方向结合的混合收敛导航向量场,提高了飞行轨迹的平滑性;然后设计导航向量场收敛项增益调节策略,可根据误差变化趋势和局部的向量场变化剧烈程度,对收敛项增益进行自适应调节.仿真实验表明,提出的方法解决了传统导航向量场在飞行航迹收敛至期望轨迹附近时出现的轨迹振荡问题,在跟踪精度和收敛速度上更有优势.
Three-dimensional Path-tracking Method Based on Mixed Convergent Guiding Vector Field
In response to the trajectory oscillation problems that arise from the traditional guiding vector field in the three-dimensional path following of fixed-wing unmanned aerial vehicles(UAVs),a construction method of the guiding vector field that employs a mixed convergence strategy and adaptive gain is proposed.This approach is intended to achieve stable tracking of the three-dimensional path for UAVs.Initially,by utilizing the Hessian matrix of the error function of the desired path,a correction matrix for the convergence direction of the guiding vector field is established.Subsequently,a mixed convergence guiding vector field that combines the Newton direction and the gradient direction is introduced.This method enhances the smoothness of the flight trajectory.Then,an adaptive gain strategy for the guiding vector field is devised.This strategy enables the adaptive adjustment of the gain of the convergence term based on the trends of error variations and the degree of local vector field changes.Simulation experiments show that the proposed method effectively resolves the trajectory oscillation problems encountered by the traditional guiding vector fields when converging the flight trajectory near the desired path.The approach demonstrates superiority in terms of tracking accuracy and convergence speed.

Fixed-wing unmanned aerial vehiclesThree-dimensional trajectory followingMixed convergence guiding vector fieldAdaptive gainTrajectory oscillation

刘京宗、张泽旭、严超、陈国栋

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哈尔滨工业大学航天学院飞行器与动力研究所,哈尔滨 150001

固定翼无人机 三维航迹跟踪 混合收敛导航向量场 自适应增益 轨迹振荡

2024

宇航学报
中国宇航学会

宇航学报

CSTPCD北大核心
影响因子:0.887
ISSN:1000-1328
年,卷(期):2024.45(9)