CN105302158B - Unmanned plane air refuelling shortest time congregation method based on Dubins paths - Google Patents

Unmanned plane air refuelling shortest time congregation method based on Dubins paths Download PDF

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CN105302158B
CN105302158B CN201510699002.9A CN201510699002A CN105302158B CN 105302158 B CN105302158 B CN 105302158B CN 201510699002 A CN201510699002 A CN 201510699002A CN 105302158 B CN105302158 B CN 105302158B
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unmanned plane
ren
fuel charger
dubins
msub
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CN105302158A (en
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袁锁中
龚全铨
张进
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Abstract

The invention discloses a kind of unmanned plane air refuelling shortest time congregation methods based on Dubins paths, belong to aircraft flight control technology field.Fuel charger waits unmanned plane is close to refuel according to fixed Route reform, and unmanned plane receives air refuelling instruction, and autonomous flight to fuel charger rear completes congregation task and carries out docking oiling again.The present invention contributes to unmanned plane to fly to estimated meeting point with shortest path, in case of emergency can be merged into row air refuelling with minimum time loss completion, it is ensured that the execution of task and the flight safety of unmanned plane.

Description

Unmanned plane air refuelling shortest time congregation method based on Dubins paths
Technical field
The present invention relates to unmanned plane air refuelling congregation methods, are especially that a kind of unmanned plane based on Dubins paths is empty Middle oiling shortest time congregation method, belongs to aircraft flight control technology field.
Background technology
Air refuelling technology is broadly divided into hose type oiling technology and hard pipe type oiling technology.Hose type flight refueling installation Also known as hose-tapered sleeve fuel loading system is that British Airways manufactures earliest on the basis of previous work is inherited.Using Such method carries out air refuelling, it is only necessary to head or the leading edge of a wing fill one it is fixed or telescopic by oil pipe. And fuel-servicing equipment is made of the hose and a funneling tapered sleeve of 20~30m long.Entire air refuelling process can To be divided into four Main Stages：It merges, dock, refuel and separates.The main task of wherein rendezvous phase is：By congregation Guidance and control system, control unmanned plane reach certain oiling spatial domain, and require unmanned plane final speed and course and plus The speed of oil machine is consistent with course.The congregation of air refuelling unmanned plane and fuel charger is the aircarft manufacturing shop in a three dimensions The problem of with control.The first stage to merge as air refuelling is the basis of safe and smooth completion air refueling mission.
After unmanned plane receives instruction, sky is specified by certain air route from other spatial domains toward refueling for air refuelling rendezvous phase It flies in domain.To realize this target, it is necessary to be carried out according to the congregation air route under unmanned plane and fuel charger difference initial position condition Research, design Guidance Law guiding unmanned plane during flying target spatial domain, the accurate homing guidance of flight control system for designing unmanned plane refer to Order.When running into emergency case, it is desirable that unmanned plane merge within the shortest time with fuel charger in the case of, it is necessary to design corresponding boat Road prioritization scheme, to ensure to merge in time.Due to being difficult to establish accurate unmanned plane model, it is therefore desirable to improve unmanned aerial vehicle (UAV) control Antijamming capability, dynamic property and the robust performance of system ensure Performance of Closed Loop System and meet the requirement of stability.Existing skill In art, unmanned plane and fuel charger are merged within the shortest time being difficult to ensure that, can not be carried out normal oil supply, be influenced Unmanned plane performs task and flight safety.
The content of the invention
The technical problems to be solved by the invention are to overcome prior art defect, provide a kind of based on Dubins paths Unmanned plane air refuelling shortest time congregation method, is quickly supplied with the oil plant for realizing unmanned plane.
In order to solve the above technical problem, the present invention provides the unmanned plane air refuelling based on Dubins paths most in short-term Between merge method, comprise the steps of：
Step 1), unmanned plane obtains position and the velocity information of fuel charger, and fuel charger is fixed certain on straight line air route Any is set to the estimated meeting point (x with fuel chargerREN,yREN), fuel charger reaches the point and takes T under earth axesT；
Step 2), unmanned plane calculate one from unmanned plane relative position (x by Dubins path calculation modulesR,yR) arrive With the estimated meeting point (x of fuel chargerREN,yREN) shortest path PathD, and then obtain unmanned plane and reach the estimated meeting point The time T to be consumedR；
Step 3), if TR=TT, then after directly exporting Dubins path navigation points, step 4) is performed；If TR≠TTWhen, root According to time difference Δ t=TR-TTThe estimated congregation of update unmanned plane takes T=TRIt is pre- to fix update on air route in fuel charger by ± Δ t Count meeting point (xREN,yREN), and fuel charger is to the time-consuming T of the pointT=T repeats step 2) and retrieves unmanned plane arrival oiling The updated estimated meeting point (x of machineREN,yREN) the time T to be consumedR, until TR=TTDubins path navigations are exported afterwards Point；
Step 4), unmanned plane track Dubins path navigations point and merge after unmanned plane reaches meeting point with fuel charger.
In the present invention, above-mentioned steps 1) under earth axes fuel charger reach taking for estimated meeting point：
In formula, (xREN,yREN) for estimated meeting point, (xT,yT) for fuel charger relative position, VTFor fuel charger flying speed.
In the present invention, above-mentioned steps 2) detailed process it is as follows：
Step 21), according to fuel charger and unmanned plane relative position coordinates, course angle and flying speed, it is contemplated that meeting point (xREN,yREN), unmanned plane min. turning radius limitation Rmin, it is calculated and unmanned plane during flying speed VRIn unmanned plane with respect to position Put (xR,yR) the tangent right circle of left circle and with fuel charger flying speed VTIn estimated meeting point (xREN,yREN) the tangent right circle of left circle Combination, select combination in distance of center circle minimum one group of composition circular arc as Dubins；
Step 22) calculates one with unmanned plane relative position (x according to circular arc combinationR,yR) merge for starting point, with estimated Point (xREN,yREN) for terminal Dubins paths as shortest path PathD；The path length L is starting circular arc, terminates circle The sum of length of common tangent between arc and two circular arcs；
Step 23), with path length L divided by unmanned plane during flying speed VRObtain reaching taking as T for estimated meeting pointR。
In the present invention, above-mentioned steps 3) middle xREN=xT+VTTTcosχT、yREN=yT+VTTTsinχT。
The beneficial effects of the present invention are：By choosing estimated meeting point on the fixation air route of fuel charger, according to nobody The initial position of machine calculates the Dubins shortest paths that unmanned plane reaches meeting point, compares fuel charger and unmanned plane arrival is expected to Then the time length of chalaza updates meeting point until meeting time equal condition, that is, finds a Dubins shortest path Estimated meeting point is reached, and provides navigation way point, reduces the time loss during air refuelling merges, contributes to nobody Machine refuels in the congregation that is in emergency circumstances rapidly completed for requiring supplementation with fuel, to continue to execute task, it is ensured that unmanned plane Flight safety.
Description of the drawings
Fig. 1 is the unmanned plane air refuelling shortest time congregation method flow diagram the present invention is based on Dubins paths；
Fig. 2 is the calculating schematic diagram in Dubins paths in the present invention；
Fig. 3 is the guidance and control system structure diagram of unmanned plane.
Specific embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1, the present invention is based on the unmanned plane air refuelling shortest time congregation method in Dubins paths, it is main For refueling process between the fuel charger and unmanned plane that is equipped with inertial navigation unit acquisition speed location information and can communicate In congregation, specifically include following steps：
After step 1, unmanned plane receive air refueling mission instruction, into congregation tracing mode, fuel charger maintains fixed boat Road flight is waited to merge with unmanned plane；
The foundation communication connection of step 2, fuel charger and unmanned plane obtains position and the speed letter of itself by airborne equipment It ceases and is sent to unmanned plane；
Step 3, unmanned plane receiving module obtain position and the velocity information of fuel charger, are fixed with fuel charger on straight line air route Certain point be arranged to estimated meeting point (xREN,yREN), fuel charger reaches the point and takes TT：
In formula, (xREN,yREN) for estimated meeting point, (xT,yT) for fuel charger relative position, VTFor fuel charger flying speed；
Step 4, as shown in Fig. 2, in flight course, initial time fuel charger relative position in the plane under inertial space For (xT,yT), fuel charger initial heading angle is χT, and by fixed air route uniform rectilinear's height-lock control.Initial time unmanned plane is used Property space under plane in relative position be (xR,yR), unmanned plane initial heading angle is χR, min. turning radius is limited to Rmin。 Fuel charger flies so that fixed or predictable air route such as straight line air route is at the uniform velocity flat, through T after a whileTFuel charger flies pre- to its A certain position (x on phase trackT,yT)TT, i.e., estimated meeting point (xREN,yREN), fuel charger course angle is χT, it is calculated accordingly With unmanned plane during flying speed VRIn unmanned plane relative position (xR,yR) the tangent right circle of left circle and with fuel charger flying speed VT It is expected that meeting point (xREN,yREN) the tangent right circle of left circle combination：
The coordinate of the left round heart of start position is respectively：yRL=yR-RmincosχR, xRL=xR+RminsinχR；
The coordinate of the right round heart of start position is respectively：yRR=yR+RmincosχR, xRR=xR-RminsinχR；
The coordinate of the left round heart in final position is respectively：yTL=yT-RmincosχT, xTL=xT+RminsinχT；
The central coordinate of circle of the right circle in final position is respectively：yTR=yT+RmincosχT, xTR=xT-RminsinχT；
Each distance of center circle L is calculated according to the various combination of the left and right circle of starting and terminal pointLSL,LLSR,LRSL,LRSR, wherein most short Distance of center circle LminCorrespond to the combination of the circular arc-tangent line-circular arc in most short Dubins paths, the starting circle in Dubins paths and The center of circle for terminating circle is also derived from.
According to starting circle (xI,yI) and termination circle (xF,yF) seek the starting point coordinate (x of tangent lineTGI,yTGI) and terminal point coordinate (xTGF,yTGF)。
LSL is combined：
LSR is combined：
RSL is combined：
RSR is combined：
Final Dubins paths of acquiring are by from unmanned plane relative position (xR,yR) arrive starting point coordinate (xTGI,yTGI) one section of circle Arc CI, from starting point coordinate (xTGI,yTGI) arrive terminal point coordinate (xTGF,yTGF) one section of straight line S and from terminal point coordinate (xTGF,yTGF) arrive It is expected that meeting point (xREN,yREN) one section of circular arc CFComposition, Dubins path lengths are L=CI+CF+ S originates circular arc, terminates The sum of length of common tangent between circular arc and two circular arcs.
Unmanned plane is calculated with flying speed VRFly over the time T that above-mentioned this section of Dubins paths are consumedR,
Step 5, fuel charger reach estimated meeting point (xREN,yREN) take TTEstimated meeting point (x is reached with unmanned planeREN, yREN) take TRIf TT=TRThen it is meant that unmanned plane and fuel charger reach simultaneously, then it is expected on fuel charger expected trajectory Chalaza (xREN,yREN) it is final meeting point；
If TT≠TRRenewal time is then needed, estimated meeting point (x is reached according to unmanned plane and fuel chargerREN,yREN) time difference Δ t=TR-TT, the estimated congregation for updating unmanned plane takes T=TR+ Δ t is fixed on air route in fuel charger and is updated estimated meeting point xREN=xT+VTTTcosχT, yREN=yT+VTTTsinχT, and fuel charger is to the time-consuming T of the pointT=T.Again counted according to step 4 It calculates Dubins paths and compares T againTAnd TR, until TT=TR, export Dubins path navigation points；
Step 6, as shown in figure 3, guidance path point starting point coordinate (x on Dubins pathsTGI,yTGI), terminal point coordinate (xTGF,yTGF) and it is expected that meeting point (xREN,yREN) tracking target as unmanned plane, the proportional guidance module of unmanned plane is inputted, The attitude angle control signal of unmanned plane is calculated in proportional guidance module, inputs the attitude control system of unmanned plane.Gesture stability System exports the rudder face control signal of unmanned plane, so as to complete the tracking to attitude angle control signal, what tracking was calculated The guidance path point in Dubins paths, control unmanned plane fly to estimated meeting point completion and the congregation task of fuel charger.
Those skilled in the art of the present technique are it is understood that unless otherwise defined, all terms used herein are (including skill Art term and scientific terminology) there is the meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.Also It should be understood that those terms such as defined in the general dictionary should be understood that with in the context of the prior art The consistent meaning of meaning, and unless defined as here, will not be explained with the meaning of idealization or overly formal.
Above-described specific embodiment has carried out the purpose of the present invention, technical solution and advantageous effect further It is described in detail, it should be understood that the foregoing is merely the specific embodiments of the present invention, is not limited to this hair Bright, within the spirit and principles of the invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention Protection domain within.

Claims (4)

  1. A kind of 1. unmanned plane air refuelling shortest time congregation method based on Dubins paths, it is characterised in that include following step Suddenly：
    Step 1), unmanned plane obtains position and the velocity information of fuel charger, and fuel charger is fixed the certain point on straight line air route It is set to the estimated meeting point (x with fuel chargerREN,yREN), fuel charger reaches the point and takes T under earth axesT；
    Step 2), unmanned plane calculate one from unmanned plane relative position (x by Dubins path calculation modulesR,yR) to adding Estimated meeting point (the x of oil machineREN,yREN) shortest path PathD, and then obtain the unmanned plane arrival estimated meeting point and want The time T of consumptionR；
    Step 3), if TR=TT, then after directly exporting Dubins path navigation points, step 4) is performed；If TR≠TTWhen, according to the time Poor △ t=TR-TTThe estimated congregation of update unmanned plane takes T=TR± △ t fix the estimated congregation of update on air route in fuel charger Point (xREN,yREN), and fuel charger is to the time-consuming T of the pointT=T repeats step 2) and retrieves unmanned plane arrival fuel charger update Estimated meeting point (x afterwardsREN,yREN) the time T to be consumedR, until TR=TTDubins path navigation points are exported afterwards；
    Step 4), unmanned plane track Dubins path navigations point and merge after unmanned plane reaches meeting point with fuel charger.
  2. 2. the unmanned plane air refuelling shortest time congregation method based on Dubins paths according to claims 1, It is characterized in that：Fuel charger reaches taking for estimated meeting point under earth axes in the step 1)：
    <mrow> <msub> <mi>T</mi> <mi>T</mi> </msub> <mo>=</mo> <mfrac> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mrow> <mi>R</mi> <mi>E</mi> <mi>N</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>x</mi> <mi>T</mi> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mrow> <mi>R</mi> <mi>E</mi> <mi>N</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>y</mi> <mi>T</mi> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </msqrt> <msub> <mi>V</mi> <mi>T</mi> </msub> </mfrac> </mrow>
    In formula, (xT,yT) for fuel charger relative position, VTFor fuel charger flying speed.
  3. 3. the unmanned plane air refuelling shortest time congregation method based on Dubins paths according to claims 1 or 2, It is characterized in that the detailed process of the step 2) is as follows：
    Step 21), according to fuel charger and unmanned plane relative position coordinates, course angle and flying speed, it is contemplated that meeting point (xREN, yREN), unmanned plane min. turning radius limitation Rmin, it is calculated and unmanned plane during flying speed VRIn unmanned plane relative position (xR, yR) tangent left circle, right circle and with fuel charger flying speed VTIn estimated meeting point (xREN,yREN) the tangent right circle of left circle group It closes, selects one group of composition circular arc as Dubins of distance of center circle minimum in combination；
    Step 22) calculates one with unmanned plane relative position (x according to circular arc combinationR,yR) it is starting point, with estimated meeting point (xREN,yREN) for terminal Dubins paths as shortest path PathD；The Dubins path lengths L is starting circular arc, end Only the sum of length of common tangent between circular arc and two circular arcs；
    Step 23), with path length L divided by unmanned plane during flying speed VRObtain reaching taking as T for estimated meeting pointR。
  4. 4. the unmanned plane air refuelling shortest time congregation method based on Dubins paths according to claims 3, It is characterized in that the middle x of the step 3)REN=xT+VTTTcosχT、yREN=yT+VTTTsinχT, xT, yTFor fuel charger relative position, VTFor fuel charger flying speed, χTFor fuel charger course angle.
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