CN106950980B - A kind of small-sized fixed-wing unmanned plane guidance computer and method of guidance - Google Patents
A kind of small-sized fixed-wing unmanned plane guidance computer and method of guidance Download PDFInfo
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Abstract
The invention discloses a kind of small-sized fixed-wing unmanned plane guidance computer and method of guidance, belong to UAV Flight Control technical field.Guidance computer of the invention is made of power panel and control signal-processing board: power panel includes power converting circuit module, analog reference voltage module；Controlling signal-processing board includes IO drive module, analog signal conditioner module, digital signal conditioning module and CPU module.Method of guidance of the invention can be compatible with Passing zenith tracing and spacing tracks two kinds of tracing modes, and Passing zenith tracing and spacing homing guidance method use unified form, only realize two kinds of homing guidance modes by sending the instruction of some variate-value.The present invention can both automatically switch the tracing mode of unmanned plane according to the change of ground movement speed, its tracing mode can also be artificially controlled according to telecommand, improve tracking efficiency and ensure safety when unmanned plane switches tracing mode.
Description
Technical Field
The invention discloses a small-sized fixed wing unmanned aerial vehicle guidance computer and a guidance method, and belongs to the technical field of unmanned aerial vehicle flight control.
Background
The unmanned aerial vehicle technology has been rapidly developed in the past decades, and has a very wide application prospect in military and civil fields. In these applications, tracking ground targets is its most basic but challenging task. Meanwhile, the motion control of the unmanned aerial vehicle becomes a key part of a target tracking system. The general tracking patterns can be divided into two categories: overhead tracking and range tracking. Overhead tracking is a tracking mode in which a drone periodically flies over a target, and can closely track a fast moving ground target, however there is a risk of exposure. The distance tracking mode is a tracking mode that the unmanned aerial vehicle keeps a certain distance from a ground target, the distance tracking has the advantage that the unmanned aerial vehicle can track the ground target without being discovered by the unmanned aerial vehicle, but the tracking method is only suitable for tracking a low-speed target due to the constraint of a minimum turning radius. In the conventional guidance method design, the two guidance methods of the tracking mode are generally designed independently and the stability of the two guidance methods is analyzed respectively. If the over-top tracking and the distance tracking are combined, a unified guidance method is designed, namely the advantages of two tracking modes are integrated, the defects of the two tracking modes are overcome, and the method has very important practical significance.
Disclosure of Invention
In order to overcome the defects of over-top tracking and distance tracking in the prior art and integrate the advantages of the over-top tracking and the distance tracking, the invention provides a small-sized fixed wing unmanned aerial vehicle guidance computer and a guidance method.
The invention adopts the following technical scheme for solving the technical problems:
a small-sized fixed wing unmanned aerial vehicle guidance computer comprises a power panel and a control signal processing panel, wherein the power panel comprises a power conversion circuit module and an analog reference voltage module, and the control signal processing panel comprises an IO driving module, an analog signal conditioning module, a digital signal conditioning module and a CPU module; the power supply conversion circuit module outputs a digital power supply to supply power to each module of the control signal processing board, and the analog signal conditioning module and the digital signal conditioning module respectively carry out information interaction with the CPU module through the IO driving module.
The method is compatible with two tracking modes of overhead tracking and range tracking, and comprises the following steps:
(1) when the tracking target is a cooperative object, obtaining the position and course information of the unmanned aerial vehicle and the ground target through a communication link between the unmanned aerial vehicle and the ground target; when the tracking target is a non-cooperative object, acquiring the positions and the course information of the unmanned aerial vehicle and the ground target through a target indicating system;
(2) defining the value range and direction of each state quantity according to the position and motion state of the unmanned aerial vehicle and the ground target under a two-dimensional Frenet-Serret framework, and establishing a two-dimensional kinematics model of the unmanned aerial vehicle and the tracked target;
(3) determining a tracking mode of the unmanned aerial vehicle for tracking the ground target according to a variable value in the established two-dimensional kinematics model, and analyzing the variable relation under the two tracking modes respectively;
(4) and designing a unified guidance method in two tracking modes, and analyzing the stability of the guidance method.
The position and course information of the unmanned aerial vehicle and the ground target in the step (1) comprise the position [ x ] of the unmanned aerial vehicleu,yu]TAnd unmanned aerial vehicle course angle psiuPosition of ground object [ x ]t,yt]TAnd ground target heading angle psit。
In the step (2), the positions and motion states of the unmanned aerial vehicle and the ground target under a two-dimensional Frenet-Serret framework are represented by a two-dimensional kinematics model for tracking the ground target at a fixed distance by the unmanned aerial vehicle, wherein the two-dimensional kinematics model comprises the following steps:
wherein r is the relative distance between the drone and the ground target, vuAnd vtThe speeds of the drone and the ground target respectively,is the course angular velocity of the unmanned aerial vehicle,for tracking the change rate of the included angle between the preset circle tangent line and the sight line at a fixed distance,the relative distance change rate between the unmanned aerial vehicle and the ground target; x is an included angle between the current unmanned aerial vehicle course and the expected course, and X belongs to (-pi, pi)]And is positive counterclockwise, i.e. A desired heading angle for the drone;is the rate of change of the χ angle; when the unmanned aerial vehicle is in the distance tracking mode and is located outside the preset tracking circle, sigmadFor predetermining the angle between the tangent of the circle and the line of sight, sigmadAnd isrdFor the desired distance that unmanned aerial vehicle hovered under distance tracking, unmanned aerial vehicle is given when predetermineeing in the circleσmThe included angle between the expected heading and the preset circle tangent direction is shown.
In the step (2), the positions and motion states of the unmanned aerial vehicle and the ground target under a two-dimensional Frenet-Serret framework are represented by a two-dimensional kinematics model of the unmanned aerial vehicle tracking the ground target over the top:
in the step (3), the variable value of one item for determining the tracking mode of the unmanned aerial vehicle for tracking the ground target is rdI.e. the desired distance for the unmanned aerial vehicle to hover to track the ground target, when rdWhen the tracking mode is not equal to 0, the tracking mode is fixed-distance tracking; when r isdWhen being equal to 0, then the unmanned aerial vehicle tracking mode is the tracking of crossing the top.
Designing a guidance method in a unified form for the two tracking modes in the step (4), and providing an unmanned aerial vehicle tracking ground target guidance method as follows:
wherein the guidance gain is k1> 0 and k2< 1, in a unit time Δ t, d1The distance of the unmanned aerial vehicle moving in the expected course; d2The distance of the ground target movement; during overhead trackingIs the angle of sight σ, drIs the relative distance r between the unmanned aerial vehicle and the ground target; when distance tracking is performedFor line-of-sight angles σ and σdThe sum of the total weight of the components,is composed ofDerivatives with respect to time, i.e.An angular velocity; sign is a sign function.
And (4) performing stability analysis on the designed guidance method, wherein a Lyapunov function is selected as follows:then the derivation of the Lyapunov function can be obtainedWherein k is2For the guidance gain of the guidance method, χ is the current unmanned aerial vehicle heading and expectationThe included angle between the course directions is that,is the derivative of χ over time t.
The invention has the following beneficial effects:
(1) the defect that the design of two tracking modes is independently developed in the past is overcome, the design efficiency of the unmanned aerial vehicle guidance method is improved, and the guidance method has a unified form.
(2) The speed of the unmanned aerial vehicle is always kept unchanged when the unmanned aerial vehicle tracks a ground variable-speed moving target.
(3) The limitation of distance tracking on the movement speed of the ground target is overcome, and the speed of the tracked target can be from static to the maximum cruising speed of the unmanned aerial vehicle.
(4) Both can be according to ground velocity of motion's change automatic switch-over unmanned aerial vehicle's tracking mode, also can be according to its tracking mode of remote control instruction manual control, improved tracking efficiency and guaranteed the security when unmanned aerial vehicle switches over tracking mode.
Drawings
FIG. 1 is a block diagram of a hardware architecture of a semi-physical simulation system of the present invention.
FIG. 2 is a diagram of a control signal processing board of the guidance computer of the invention.
Fig. 3 is a schematic diagram of distance tracking of a moving object in the invention.
Fig. 4 is a schematic diagram of the over-the-top tracking of a moving object in the present invention.
FIG. 5 is a schematic diagram of the unmanned aerial vehicle tracking a fixed target trajectory in two modes.
Fig. 6 is a schematic diagram of the relative distance between fixed targets tracked by the unmanned aerial vehicle in two modes.
Fig. 7 is a schematic diagram of the unmanned aerial vehicle tracking the track of the uniform motion target in two modes.
Fig. 8 is a schematic diagram of relative distances of uniform motion targets tracked in two modes of the unmanned aerial vehicle.
FIG. 9 is a schematic diagram showing the moving speed profile of the Levy moving object of the invention.
Fig. 10 is a schematic diagram of the unmanned aerial vehicle tracking Levy (column dimension) moving target track in two modes.
Fig. 11 is a schematic diagram of relative distance of a Levy (column dimension) moving target tracked by two modes of the unmanned aerial vehicle.
Fig. 12 is a schematic view of a track of a ground target tracked by an unmanned aerial vehicle under a semi-physical simulation system by the guidance method designed by the invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
1. Guidance computer design
The guidance computer is the core of the guidance system, and the whole system consists of two boards, namely a power supply board and a control signal processing board. The whole system consists of two boards, namely a power supply board and a control signal processing board. The power panel comprises a power conversion circuit module and an analog reference voltage module. The control signal processing board comprises an IO driving module, an analog signal conditioning module, a digital signal conditioning module and a CPU module. High reliability and low power consumption.
a. The module used for DC/DC (direct current-direct current) conversion of the guidance computer used by the invention is LT3972, and 27V input voltage is converted into +5V output to provide digital circuit work; converting 27V input voltage into 5.5V output voltage to provide a steering engine power supply; the 27V input voltage is converted to a 5V output, providing an analog power supply. The maximum output current of LT3972 is 3A, and the working temperature is-45- +85 ℃.
b. The control signal processing board comprises an analog signal input/output, a serial port, an IO input/output, a PWM (pulse width modulation) input/output and a CPU module. The module composition is shown in fig. 2. The CPU processes, calculates, and controls input and output information using MPC 565. The circuit comprises 8 paths of 14-bit DA outputs, 8 paths of 16-bit AD inputs, 8 paths of band isolation PWM inputs and 8 paths of PWM outputs. MR25H10 is an Eerspin Industrial grade serial NVRAM (non-volatile random Access memory) with a capacity of 1Mb that runs at high speed at a clock speed of 40MHz without write latency. MR25H10 allows for infinite erasure. The low voltage protection circuit can automatically protect data when power is off and prevent data from being written when the voltage is out of a specified voltage range. Analog signal sampling selects AD7689 chip for use, and AD7689 is 8 passageways, 16 bits, charge redistribution Successive Approximation Register (SAR) type analog-to-digital converter (ADC), adopts single power VDD power supply, and AD7689 possesses required all component parts of multichannel, low-power consumption data acquisition system, includes: true 16-bit SAR ADC without missing code; an 8-channel (AD7689) low crosstalk multiplexer for configuring an input as a single ended input, a differential input, or a bipolar input; an internal low drift reference source and buffer; a temperature sensor; a selectable single-pole filter; and a sequencer that is useful when multiple channels are sampled sequentially.
The bootstrap program of the guidance computer has 2 working modes: program loading mode and program running mode. When the 8-pin and the 4-pin in the connector of the super terminal host DB9 are connected, the program loading mode is executed, otherwise, the program running mode is executed. When the program loading mode is operated, the executable program of the invention is firstly downloaded to the SRAM (static random access memory) of the mainboard through the XMODEM (asynchronous file transfer in serial communication) protocol, and simultaneously saved in the FLASH on the mainboard, and the user application program is started to be executed. When the user program running mode is operated, the bootstrap program reads the executable program from a FLASH memory into an SRAM (static random access memory) of the main board, and starts to execute the user program. The method comprises the following operation steps: inserting a serial port connector for loading a user program on J1; writing an executable binary file program; opening a super terminal of WINDOWS, defining the attribute of the super terminal to have 115200 bits per second, wherein the data bit is 8, the parity check is not available and the stop bit is 1; after power-on, a MENU MENU appears, and an XMODEM is selected by pressing an X key; if the "§" symbol is continuously appeared on the super terminal, the main board requests the super terminal to send the user executable program; clicking a menu on the super terminal: transfer- > send file. Selecting an XMODEM protocol, clicking a 'browsing' selection program executable file, and clicking to send; pressing the R key directly executes the program.
2. Guidance method mathematical model construction
Unmanned aerial vehicle control systems typically consist of a stability loop and a guidance loop. In the present invention, the stability loop is considered to be designed and to respond well to guidance commands of the guidance loop. Ideally, the drone performing the tracking task is considered to be maintained at a fixed altitude and therefore can be generally reduced to a two-dimensional guidance problem, and in the present invention the location, speed and heading information of the drone and the ground target are considered to be known. The information can be obtained through a communication link between the tracking target and the target when the tracking target is a cooperative object, and can be obtained through detection means such as a satellite when the tracking target is a non-cooperative object. Note [ x ]u,yu]TIndicates the unmanned plane position, [ x ]t,yt]TRepresenting a location of a ground object; v. ofuCruising speed, v, for unmanned aerial vehicletIs the velocity of the ground target; psiuIndicates the heading angle of the drone and psiu∈(-π,π]，ψtRepresents a ground target heading angle and psit∈(-π,π]The interrelationship is shown in fig. 3.
In FIG. 3, r is the relative distance between the UAV and the ground target, and r is greater than or equal to 0 and has an upper bound. The system dynamics model designed by the invention can be described by the formula (1):
wherein,the position change rate of the unmanned aerial vehicle in the x-axis direction is obtained;the change rate of the position of the unmanned aerial vehicle in the y-axis direction is obtained;the unmanned plane course angular rate; v. ofuThe cruising speed of the unmanned aerial vehicle; u is unmanned aerial vehicle guidance input.
In order to analyze the relative motion relationship between the drone and the target, it can be seen from fig. 3 that the relative distance between the drone and the ground target point isWherein the definition of the direction angle in the invention takes the x axial direction as reference, takes the anticlockwise direction as positive and has the range of (-pi, pi)]。
The two-dimensional kinematics model for the drone to track the ground target can be written as follows:
wherein χ is the current unmanned aerial vehicle heading angle ψuAngle to desired headingA difference of (i.e. Is the rate of change of the difference;is the rate of change of distance. As can be seen from FIG. 3, when the UAV is in the fixed positionWhen the distance tracking mode is out of the preset tracking circle, sigma existsdAnd isasin (x) is an arcsine function; wherein is σdTracking the included angle between the preset tangent line and the sight line at a fixed distance; r isdAnd tracking the expected distance of the lower unmanned aerial vehicle in a hovering mode for the distance. If the unmanned aerial vehicle is given in the preset circle Is σdThe rate of change of (c). SigmamIs d1And drThe angle therebetween is then vuThe included angle between the connecting line and the r direction is chi + sigmam-σd。
As can be seen from fig. 4, when the drone enters the overhead tracking mode, point PsIs the position where the unmanned aerial vehicle and the target meet after the target passes through delta t, d1、d2The unit vectors corresponding to r areAndσmis r and d1The angle therebetween is then vuThe included angle between the connecting line and the r direction is chi + sigmam. According to the course and position relation of the unmanned aerial vehicle and the ground target, analyzing the variable relation, and writing a two-dimensional kinematics model of the unmanned aerial vehicle tracking the ground target in an overhead tracking mode into the following form:
comparing the equations (2) and (3), it can be seen that d is the time when the tracking is over the toprCoincide with r, rdWhen the value is 0, then the formula (2)) Sigma indThe expression of equation (2) may be described as equation (3) if 0, and thus equation (2) may be a two-dimensional kinematic model unified as the ground target for unmanned aerial vehicle distance tracking and over-the-top tracking.
3. Analysis of vector relationships in a model
Unmanned aerial vehicle flight can take two modes that can be clockwise or anticlockwise. For the convenience of analysis, the invention defines that distance tracking and overhead tracking only take clockwise flight, and anticlockwise can be analyzed by the same method.
Assuming that the direction of movement of the ground object is constant over the sampling time Δ t, i.e.Analyzing the motion relationship between the unmanned aerial vehicle and the target in fig. 3 can know that:therefore, it is not only easy to useFrom FIG. 3Therefore, it is not only easy to useAt the same time, the user can select the desired position,thenTherefore, it is not only easy to use
Thus, it is possible to provideTherefore, it is not only easy to useWhere σ is defined as the angle of the line of sight,presetting a circle tangent angle for distance tracking;a desired heading angle for the drone.Is σmThe angle of the steel plate is compensated,is the rate of change of the supplementary angle;is a preset circle tangent angle change rate;an angular rate of change is desired for the drone; sigma1Is d1And d2Angle of composition of whichThis is the rate of change of the included angle.
Analyzing FIG. 3 by unit vectorAndin relation to (b), whereinAndrespectively the expected course and target motion of the unmanned aerial vehicle and the unit velocity vector of the unmanned aerial vehicle in the direction of the preset circle tangentAmount of the compound (A). It can be known thatMove it to the square ruleThis formula is expanded to:
both sides of the above formula are simultaneously divided by d1 2Then, thenSolving the equation to obtainThe equation is differentiated to obtain:
by vector relationsCan obtain the productWhereinThe derivative of the desired heading tangent vector to t;the derivative of the current course tangent vector to t;a normal vector to the desired velocity;is the derivative of the desired heading angle with respect to t. Substituting equation (5) into this equation gives:because of the fact thatAndnamely, it isWhereinIs perpendicular toIs measured with respect to the normal vector of (a),is perpendicular toIs measured. The square of the two sides of the formula is obtainedFurther, it is possible to obtain:for the formula to move towards the evolutionCan also be obtained from the above formula (4)Will cos sigma1Substitution of expression (c)Is expressed as
Namely, the method comprises the following steps:
selecting a Lyapunov function as follows:k2for guidance gain, then
Order toNamely, it isSetting k2If < 1, thenThus, it is possible to provideAndthe polarity is consistent, and the invention is only needed to be applied toCan be obtained by unfolding the analysisThe symbolic feature of (1).
Let y (χ) be χ -k2Atan% of, thenThus, it is possible to providey (χ) monotonically increases within the definition domain, and when χ is 0, y (0) is χ -k2·atanχ|χ＝00. Hence, χ and χ -k2Atan χ is uniform in polarity.
4. Guidance method design
From the conclusion of the analysis in section 3 above, the present invention proposes the following (7) guidance method for tracking ground targets over-the-top and at-the-distance based on relative distance/line-of-sight angular velocity:
wherein the expressions for the variables in the guidance method are summarized as follows
In the formula (7), sigma is defined as a line-of-sight angle, and chi is the current unmanned aerial vehicle heading angle psiuAngle to desired headingDifference of (phi)tRepresenting a ground target heading angle. v. ofuCruising speed, v, for unmanned aerial vehicletIs the velocity of the ground target. d1、d2Respectively being unmanned aerial vehicle and tangent point ptAnd point psDistance of movement, d, per unit time Δ trFor unmanned aerial vehicle and tangent point ptDistance moved in unit time Δ t. SigmamIs d1And drThe included angle therebetween. k is a radical of1And k2Is a guidance gain for the guidance method.
As shown in fig. 3, σdAnd tracking the included angle between the lower preset circle tangent and the sight line at a fixed distance. The direction angle is not present in the overhead tracking, and the definition of this angle is given in the following equation (9). Sigma2Is drAnd d2The expression of the included angle therebetween is shown in the above formula (8). d2For the distance of the movement of the object during the sampling time, d during the sampling time2＝vt。
Angle of subtend sigmadThe summary is as follows:
overhead tracking: sigmad＝0
Distance tracking:
in order to unify the two forms of guidance methods, the direction angle is defined in the guidance methodAs shown in fig. 4, the direction angle is the line-of-sight angle in the overhead tracking, and as shown in fig. 3, the line-of-sight angles σ and σ in the range trackingdSum, pairThe summary is as follows:
overhead tracking:
distance tracking:
4.1 kinematic analysis under stationary targets
The stationary state of the target can be considered as a special case of the above-mentioned motion situation, i.e. the target point is fixed and cannot form a triangular relation like the vectors in fig. 3 and 4Thus when v in expression (2)tWhen equal to 0, there is d2＝0，d1And drCoincidence, σm0. The guidance method shown in equation (7) can be simplified as follows:
meanwhile, the relative relation between the unmanned aerial vehicle and the ground target can be obtained, the variable relation is analyzed, and the two-dimensional kinematics model (2) can be simplified as follows:
the first term of equation (12) can be derived, analysis is divided into three cases:
(Ⅰ)r≥rd
according to equation (11), at this timeThe subdivision is into two cases:
a. chi is more than or equal to 0 and is chi-k2·atanχ≥0
It can be known thatThen
When in use
When in useAlso have
b. Chi < 0 or chi-k2·atanχ＜0
It can be known thatThen
When in use
When in use
(Ⅱ)r＜rdAnd is
From the formula (11), it is found thatFrom the formula (9), it is found thatThenEquation (13) is rewritten as:
then
(Ⅲ)r＜rdAnd is
Then
Because of the fact thatSo that χ ∈ [0, π]. Then
a.
Because cos χ > 0, χ -k2·atanχ≥0,k1If greater than 0, then
b.
As can be seen from the formula (12),thenAnd because cos χ is less than or equal to 0, thenThus, it is possible to provide
To sum up, when the unmanned aerial vehicle tracks the static target at a fixed distanceNamely, it is
When the unmanned aerial vehicle tracks the static target over the top, the sigma can be known by the formula (9)d0. When the condition (I) r is not less than rdOr case (III) (r < r)dAnd is) Then, the proving process is similar to distance tracking, and the same can be obtainedWhen case (II), i.e. r < rdAnd isWhen, equation (13) can be rewritten as:
byThenNamely, it is
The same can be proved when the unmanned aerial vehicle tracks a static target over the top
The following reanalysisSeveral cases of (1):
when r is more than or equal to rdWhen, if and only if χ ═ 0When tracking at fixed distance, (0, r)d) Is the only balance point of the system. It is obviously impossible to maintain χ 0 at the time of over-top tracking; when r < rdAnd isWhen, because r is less than rdCannot be maintained all the time, thereforeNor can it be maintained; when r < rdAnd isWhen, if and only if χ ═ 0When the unmanned aerial vehicle passes the top tracking target, x is 0Therefore, it cannot always maintainUnmanned aerial vehicle fixed distance tracking target, chi ═ 0 hasTherefore, χ ═ 0 cannot be maintained, and similarly cannot be maintained at all timesIn conclusion, the unmanned aerial vehicle is stable in two tracking modes when tracking a static target.
4.2 kinematic analysis under moving objects
(Ⅰ)r≥rd
According to the formula (7)
a. Chi is more than or equal to 0 and is chi-k2·atanχ≥0
Is obtained by the formula (6),then
b. Chi < 0 or chi-k2·atanχ＜0
Is obtained by the formula (6),then
(Ⅱ)r＜rdAnd is
According to the formula (4),since r is less than rdFrom the formula (9), it can be seen thatThus, it is possible to provideAt the same time willCan be substituted by the formula (2):
(Ⅲ)r＜rdand is
According to the formula (11),
a. chi is more than or equal to 0 and is chi-k2·atanχ≥0
Is obtained by the formula (6)
ThenThen
b. Chi < 0 or chi-k2·atanχ＜0
Is obtained by the formula (6)
ThenThen
When the unmanned aerial vehicle passes the top to track the target, sigmad0. When r is more than or equal to rdOr (r < r)dAnd is) The certification is similar to the certification process described above and is equally availableWhen r < rdAnd isSigma due to over-top trackingdThe two-dimensional kinematic model can be written as:
according to the formula (4),then
When the unmanned aerial vehicle tracks the moving target at a fixed distance,
when the unmanned aerial vehicle tracks the moving target, the closed-loop system shown in the formula (2) is a non-autonomous system. Similar to the case of tracking a stationary target, considerThe utility model has the advantages of that,is consistently continuous with respect to t, and is therefore stable in both tracking modes when the drone is tracking a moving target.
5. Guidance method verification
In order to verify the effectiveness of the guidance method design method provided by the invention, in this section, firstly, a Simulink simulation environment is created through a Matlab tool, an S function of the guidance method is compiled, and simulation verification and guidance gain improvement are respectively carried out on ground targets which are static, move linearly at a constant speed and move in a variable speed Levy track. And finally, carrying out real-time simulation flight verification on a six-degree-of-freedom mathematical model of a certain unmanned aerial vehicle.
When the simulation is started, the positions, the headings and other parameters of the ground target and the initial point of the unmanned aerial vehicle are respectively set as follows:
lambda ground target position (0,0), course 30 DEG
Lambda drone position (0, -2000), course 30 deg. °
Lambda unmanned cruise speed: 40m/s
λ maximum roll angle of unmanned aerial vehicle: 30 degree
λ ground target speed range: 0 to 30m/s
The parameters of the guidance method are respectively set to k1＝1.0，k2＝0.2。
5.1 tracking stationary ground targets
FIG. 5 shows the track of a ground static target tracked by the unmanned aerial vehicle at a certain distance and over the top. As can be seen from fig. 5, the front half is the over-the-top tracking and the back half is the distance tracking. Fig. 6 shows the relative distance between the tracked targets of the unmanned aerial vehicle, which reflects that the switching process is smooth and stable.
5.2 tracking ground target in uniform linear motion
As can be seen from fig. 7 and 8, the target 1700s before simulation is in uniform linear motion, and the unmanned aerial vehicle switches two tracking modes to track the target. And the later stage target static unmanned aerial vehicle performs overhead tracking. Simulation results show that the unmanned aerial vehicle has good tracking performance no matter the unmanned aerial vehicle tracks ground targets in linear motion at fixed distance or over the top.
5.3 tracking Levy moving target
When the more complex motion state of the ground target is simulated, a Levy motion model can be adopted, and the speed of the ground target also changes in a larger range. Fig. 9 and 10 show the velocity profile and the tracking trajectory of the ground target motion, respectively.
The process of tracking the Levy moving target is divided into automatic tracking according to the speed and instruction tracking. Fig. 11 is a diagram of relative distance of a Levy moving target tracked by two modes of the unmanned aerial vehicle. The 3000s before simulation is that the unmanned aerial vehicle switches the tracking mode according to the speed of the tracked ground target, when the speed of the ground moving target is less than 1/3 of the speed of the unmanned aerial vehicle, the fixed-distance tracking mode is adopted, otherwise, the over-top tracking mode is adopted; and after the simulation, the unmanned aerial vehicle receives an instruction to track in 3000s, the unmanned aerial vehicle receives an overhead tracking instruction in the first 1500s, and the unmanned aerial vehicle receives a fixed-distance tracking instruction in the last 1500 s.
As can be seen from fig. 10 and 11, the drone can successfully track the complex Levy moving ground target. Even if the target in a complex motion state is tracked, the guidance method designed by the method can be used for successfully tracking the target in real time no matter the tracking guidance method mode is switched according to the speed change of the ground target or the instruction, and the stability is good in the switching transition process.
6. Semi-physical simulation verification
The control simulation of the existing unmanned aerial vehicle mainly comprises semi-physical simulation and full-digital simulation. Compared with digital simulation, the semi-physical simulation introduces part of real objects in the system into a simulation loop, more truly simulates the field condition, and has practical application significance for the designed guidance method.
According to the requirement of simulation verification, a semi-physical simulation hardware platform shown in figure 1 is built, and the platform mainly comprises: the system comprises a guidance computer, an unmanned aerial vehicle data chain simulation system and a simulation computer. The guidance computer is used as the center of the system, and the simulation computer can perform information interaction with the guidance computer. The method can complete the sending and remote measuring receiving of the remote control command and can display the flight track of the tracking target based on the guidance method in the track display software.
6.1 hardware devices:
lambda guidance computer
Lambda simulation computer
Lambda test cable
Lambda Moxa serial port card
Lambda PC machine
6.2 digital link simulation system:
lambda remote control software
Lambda measuring and controlling software
Lambda track display software
(1) The guidance computer is the core of the whole simulation system, and the whole system board card consists of two boards, namely a power supply board and a control signal processing board. The power panel comprises a power conversion circuit module and an analog reference voltage module. The control signal processing board comprises an IO driving module, an analog signal conditioning module, a digital signal conditioning module and a CPU module. High reliability and low power consumption. The program downloaded by the guidance computer of the invention is not only guidance information, but also includes inner loop control information.
(2) The unmanned aerial vehicle data chain simulation system comprises a remote control and remote measurement simulation computer and a flight path display computer. Two computers (PCs) communicate via UDP, and a router connects the two computers. The remote control and remote measurement computer is connected with the guidance computer through a serial port and exchanges information.
(3) The simulation computer is an important component of the system, and adopts a porphyry IPC610 industrial personal computer. And calculating a flight characteristic mathematical model of the unmanned aerial vehicle in real time, transplanting and downloading the model established by digital simulation, carrying out simulation calculation on the whole tracking process of the airplane and simulating the actual flight of the unmanned aerial vehicle. And the information of flight path, attitude and the like is resolved and sent to the guidance computer through a serial port.
6.3 the semi-physical simulation process of the invention is as follows:
(1) fig. 1 is a simulation system configuration of the present invention, which is respectively shown as a track display software interface, a remote control and remote measurement software interface, a guidance computer and a simulation computer.
(2) The bootstrap program of the guidance computer has 2 working modes: program loading mode and program running mode. When the 8-pin and the 4-pin in the connector of the super terminal host DB9 are connected, the program loading mode is executed, otherwise, the program running mode is executed. When the program loading mode is operated, the executable program of the invention is firstly downloaded to the SRAM (static random access memory) of the mainboard through the XMODEM (asynchronous file transfer in serial communication) protocol, and simultaneously saved in the FLASH (FLASH memory) on the mainboard, and the user application program is started to be executed. When the user program running mode is operated, the bootstrap program reads the executable program from a FLASH memory into an SRAM (static random access memory) of the main board, and starts to execute the user program. The method comprises the following operation steps: inserting a serial port connector for loading a user program on J1; writing an executable binary file program; opening a super terminal of WINDOWS, defining the attribute of the super terminal to have 115200 bits per second, wherein the data bit is 8, the parity check is not available and the stop bit is 1; after power-on, a MENU MENU appears, and an XMODEM is selected by pressing an X key; if the "§" symbol is continuously appeared on the super terminal, the main board requests the super terminal to send the user executable program; clicking a menu on the super terminal: transfer- > send file. Selecting an XMODEM protocol, clicking a 'browsing' selection program executable file, and clicking to send; pressing the R key directly executes the program.
(3) And setting configuration files of UDP (user Datagram protocol) anchor addresses and ports of remote control telemetry software and track display software. And the TCP/UDP test tool ensures that the two computers can directly and normally communicate. And the simulation computer performs physical simulation and sends the result to the guidance computer through the serial port. And the guidance computer sends the data to the remote control and telemetry computer through a serial port. And the remote control and remote measurement computer sends the simulated data to the flight path display computer through a UDP protocol and displays the flight path traced by the unmanned aerial vehicle on the display equipment. And simultaneously, sending the data to the simulation computer through the guidance computer.
(4) Fig. 12 shows that the unmanned aerial vehicle tracks the ground target in the semi-physical simulation system according to the guidance method designed by the invention, and it can be seen that the unmanned aerial vehicle has good performance when tracking the ground complex moving target.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications can be made without departing from the principles of the invention and these modifications are to be considered within the scope of the invention.
Claims (3)
1. A guidance method of a guidance computer of a small-sized fixed-wing unmanned aerial vehicle adopts the guidance computer which comprises a power panel and a control signal processing panel, wherein the power panel comprises a power conversion circuit module and an analog reference voltage module, and the control signal processing panel comprises an IO driving module, an analog signal conditioning module, a digital signal conditioning module and a CPU module; the power supply conversion circuit module outputs a digital power supply to supply power to each module of the control signal processing board, and the analog signal conditioning module and the digital signal conditioning module respectively carry out information interaction with the CPU module through the IO driving module;
the guidance method is characterized by being compatible with two tracking modes of overhead tracking and distance tracking, and comprising the following steps of:
(1) when the tracking target is a cooperative object, obtaining the position and course information of the unmanned aerial vehicle and the ground target through a communication link between the unmanned aerial vehicle and the ground target; when the tracking target is a non-cooperative object, acquiring the positions and the course information of the unmanned aerial vehicle and the ground target through a target indicating system; the position and course information of the unmanned aerial vehicle and the ground target comprise the position [ x ] of the unmanned aerial vehicleu,yu]TAnd unmanned aerial vehicle course angle psiuPosition of ground object [ x ]t,yt]TAnd ground target heading angle psit；
(2) Defining the value range and direction of each state quantity according to the position and motion state of the unmanned aerial vehicle and the ground target under a two-dimensional Frenet-Serret framework, and establishing a two-dimensional kinematics model of the unmanned aerial vehicle and the ground target; the two-dimensional kinematics model of the unmanned aerial vehicle for distance tracking of the ground target is expressed as follows:
wherein r is the relative distance between the drone and the ground target, vuAnd vtThe speeds of the drone and the ground target respectively,is the course angular velocity of the unmanned aerial vehicle,for tracking the change rate of the included angle between the preset circle tangent line and the sight line at a fixed distance,the relative distance change rate between the unmanned aerial vehicle and the ground target; x is an included angle between the current unmanned aerial vehicle course and the expected course, and X belongs to (-pi, pi)]And is positive counterclockwise, i.e. A desired heading angle for the drone;is the rate of change of the χ angle; when the unmanned aerial vehicle is in the distance tracking mode and is located outside the preset tracking circle, sigmadFor predetermining the angle between the tangent of the circle and the line of sight, sigmadAnd isrdFor the desired distance that unmanned aerial vehicle hovered under distance tracking, unmanned aerial vehicle is given when predetermineeing in the circleσmThe included angle between the expected course and the preset circle tangential direction is defined;
(3) determining a tracking mode of the unmanned aerial vehicle for tracking the ground target according to a variable value in the established two-dimensional kinematics model, and analyzing the variable relation under the two tracking modes respectively; the variable value of an item for determining the tracking mode of the unmanned aerial vehicle for tracking the ground target is rdI.e. the desired distance for the unmanned aerial vehicle to hover to track the ground target, when rdWhen the tracking distance is not equal to 0, the unmanned aerial vehicle tracking mode is fixed-distance tracking; when r isdWhen the signal value is 0, the unmanned aerial vehicle tracking mode is over-top tracking;
(4) designing a unified guidance method in two tracking modes, and analyzing the stability of the guidance method; the following ground target tracking guidance method for the unmanned aerial vehicle is provided:
wherein the guidance gain is k1> 0 and k2< 1, in a unit time Δ t, d1The distance of the unmanned aerial vehicle moving in the expected course; d2The distance of the ground target movement; during overhead trackingIs the angle of sight σ, drIs the relative distance r between the unmanned aerial vehicle and the ground target; when distance tracking is performedFor line-of-sight angles σ and σdThe sum of the total weight of the components,is composed ofDerivatives with respect to time, i.e.The angular velocity of (a); sign is a sign function.
2. A guidance method for a guidance computer for a small-sized fixed-wing drone according to claim 1, characterized in that: in the step (2), the positions and motion states of the unmanned aerial vehicle and the ground target under a two-dimensional Frenet-Serret framework are represented by a two-dimensional kinematics model of the unmanned aerial vehicle tracking the ground target over the top:
3. a guidance method for a guidance computer for a small-sized fixed-wing drone according to claim 2, characterized in that: and (4) performing stability analysis on the designed guidance method, wherein a Lyapunov function is selected as follows:then the derivation of the Lyapunov function can be obtainedWherein k is2For the guidance gain of the guidance method, x is the included angle between the current unmanned aerial vehicle course and the expected course,is the derivative of χ over time t.
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