CN110221597A - A kind of paths planning method and device for unmanned target - Google Patents
A kind of paths planning method and device for unmanned target Download PDFInfo
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- CN110221597A CN110221597A CN201910312506.9A CN201910312506A CN110221597A CN 110221597 A CN110221597 A CN 110221597A CN 201910312506 A CN201910312506 A CN 201910312506A CN 110221597 A CN110221597 A CN 110221597A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The present invention provides a kind of paths planning method for unmanned target, the angle of deviation of straight line and north orientation that unmanned target actual travel point and target travel point are constituted is acquired in real time, the driving direction of unmanned target and the yaw angle of north orientation, by being converted to the steering angle of unmanned target based on the calibration shift algorithm with the low-pass first order filter for being saturated limitation, steering angle is main to enable I, I is enabled to be converted to controllable revolving speed by steering angle is main by proportion adjustment, that is the steering angle of steering wheel is main to enable II, turn again to main II input quantity as PI closed loop control algorithm that enables in angle, obtain the voltage value of unmanned target driving motor, final steering wheel is under the control of voltage value, make to move unmanned target ontology accurately with optimal path and direction running to target travel point, the feasibility that air force practices shooting under battle conditions is ensured.
Description
Technical field
The invention belongs to move unmanned Intelligent target technical field more particularly to a kind of path rule for unmanned target
Draw method and device.
Background technique
As military equipment constantly improves the requirement close to actual combatization, existing intelligence, which moves target setting, to have expired
Foot not war fighting requirement, my previous army's live-fire training with it is when manoeuvre relatively simple to the setting of target, generally use static target,
Rail type moves target, trackless removable target, wherein trackless target includes remote control mode and plans traveling by path
Mode, however, unmanned target traveling path planning problem be always the field key points and difficulties, the prior art use
Scheme is mostly that the target apperceptions such as GPS electronic map and radar sensor, laser detector, bionic eye image processing techniques is used to know
Other technology blends technology, and cooperation target is travelled by specified path, and such as improved dijkstra's algorithm, genetic algorithm, machine are deep
The complicated algorithms such as degree study, above method need to design complicated algorithm to realize, and cost is high, on engineer application
It is cumbersome, be not easy to realize.
Summary of the invention
To solve the above problems, the present invention provides a kind of paths planning method and device for unmanned target, can make
Unmanned target is rapidly and accurately moved to predeterminated target along the optimal path planned in real time in the case where no manual intervention
Point.
A kind of paths planning method for unmanned target, the unmanned target include steering wheel and driving motor, spy
Sign is, the described method comprises the following steps:
S1: the angle of deviation of straight line and north orientation that the actual travel point and target travel point for obtaining unmanned target in real time are constituted,
The driving direction of unmanned target and the yaw angle of north orientation；
S2: using the difference of the angle of deviation and the yaw angle as the steering angle of unmanned target；
S3: the steering angle is corrected using the low-pass first order filter with saturation limitation, obtains unmanned target
Steering angle is main to enable I；
S4: main to the steering angle that I is enabled to carry out proportion adjustment, the steering angle for obtaining unmanned target steering wheel main enables II；
S5: enabling II to be modified using preset PI closed loop control algorithm is main to the steering angle, obtains unmanned target and drives
The voltage value of dynamic motor；
S6: the driving motor adjusts the steering of the steering wheel under the control of the voltage value, makes unmanned target row
It sails to target travel point.
Further, when the steering angle for obtaining primary unmanned target is main enables I, a calibration cycle is completed；
The main acquisition methods for enabling I of the steering angle of unmanned target described in step S3 specifically includes the following steps:
S31: the steering angle that the current correction period obtains and the main deviation for enabling I of steering angle that a upper calibration cycle obtains are obtained
Value；Wherein, in first calibration cycle, the steering angle that a upper calibration cycle obtains is main, and to enable I be 0；
S32: proportion adjustment is carried out to the deviation, obtains the steering angular velocity of unmanned target；
S33: saturation limitation processing is carried out to the steering angular velocity, makes steering angular velocity no more than 10 °/s；
S34: First-order Integral link processing will be carried out by the steering angular velocity for being saturated limitation processing, obtains current correction week
The steering angle of phase is main to enable I.
Further, when obtaining the voltage value of primary unmanned target driving motor, an amendment period is completed；
The specific acquisition methods of the voltage value of unmanned target driving motor described in step S5 the following steps are included:
S51: it obtained in the case where a upper amendment period obtains the control of voltage value, the steering angle of the steering wheel；
S52: the main steering angle for enabling II to obtain with a upper amendment period of steering angle that the current amendment period obtains is obtained
Deviation；Wherein, in first amendment period, the steering angle that a upper amendment period obtains is 0；
S53: the processing of saturation limitation for the first time is carried out to the deviation, makes the deviation no more than 80 °；
S54: proportional integration adjusting is carried out to the deviation by the processing of saturation limitation for the first time, obtains stable deviation
Value；
S55: second of saturation limitation processing is carried out to the stable deviation, makes stable deviation no more than 40 °；
S56: it will be handled by the deviation input inertance correction link of the processing of saturation limitation twice, obtain inertia school
Deviation after just；
S57: the deviation after the inertance correction is subjected to proportion adjustment, is currently corrected the driving motor in period
Voltage value.
A kind of device of the paths planning method for unmanned target, including steering wheel and driving motor, further include GPS bis-
Antenna direction module and control module；
The GPS double antenna orientation module is used to obtain the latitude and longitude information of the actual travel point of unmanned target in real time；
The control module controls the voltage value of the driving motor rotation for obtaining in real time, specifically includes following step
It is rapid:
S1: according to the latitude and longitude information of the latitude and longitude information of actual travel point and the target travel point bound in advance, in real time
The angle of deviation of straight line and north orientation that the actual travel point and target travel point for obtaining unmanned target are constituted；
S2: the driving direction of unmanned target and the yaw angle of north orientation are obtained；
S3: using the difference of the angle of deviation and the yaw angle as the steering angle of unmanned target；
S4: the steering angle is corrected using the low-pass first order filter with saturation limitation, obtains unmanned target
Steering angle is main to enable I；
S5: main to the steering angle that I is enabled to carry out proportion adjustment, the steering angle for obtaining unmanned target steering wheel main enables II；
S6: enabling II to be modified using preset PI closed loop control algorithm is main to the steering angle, obtains unmanned target and drives
The voltage value of dynamic motor；
The driving motor adjusts the steering of the steering wheel under the control of the voltage value, travels unmanned target
To target travel point.
Further, a kind of device of the paths planning method for unmanned target, further includes for obtaining unmanned target
The angular position pick up of the steering angle of steering wheel；When obtaining the voltage value of primary unmanned target driving motor, one is completed
Correct the period；
The specific acquisition methods of the voltage value of unmanned target driving motor described in step S6 the following steps are included:
S61: it obtained in the case where a upper amendment period obtains the control of voltage value, the steering angle of the steering wheel；
S62: the main steering angle for enabling II to obtain with a upper amendment period of steering angle that the current amendment period obtains is obtained
Deviation；Wherein, in first amendment period, the steering angle that a upper amendment period obtains is 0；
S63: the processing of saturation limitation for the first time is carried out to the deviation, makes the deviation no more than 80 °；
S64: PI adjusting is carried out to the deviation by the processing of saturation limitation for the first time, obtains stable deviation；
S65: second of saturation limitation processing is carried out to the stable deviation, makes stable deviation no more than 40 °；
S66: it will be handled by the deviation input inertance correction link of the processing of saturation limitation twice, obtain inertia school
Deviation after just；
S67: carrying out proportion adjustment for the deviation after the inertance correction, and the unmanned target for currently being corrected the period drives
The voltage value of dynamic motor.
Further, a kind of device of the paths planning method for unmanned target, when turn for obtaining once unmanned target
When enabling I to angle is main, a calibration cycle is completed；
The main acquisition methods for enabling I of the steering angle of unmanned target described in step S4 specifically includes the following steps:
S41: the steering angle that the current correction period obtains and the main deviation for enabling I of steering angle that a upper calibration cycle obtains are obtained
Value；Wherein, in first calibration cycle, the steering angle that a upper calibration cycle obtains is main, and to enable I be 0；
S42: proportion adjustment is carried out to the deviation, obtains the steering angular velocity of unmanned target；
S43: saturation limitation processing is carried out to the steering angular velocity, makes steering angular velocity no more than 10 °/s；
S44: First-order Integral link processing will be carried out by the steering angular velocity for being saturated limitation processing, obtains current correction week
The steering angle of phase is main to enable I.
The utility model has the advantages that
1, the present invention provides a kind of paths planning method for unmanned target, acquires unmanned target actual travel point in real time
The angle of deviation, the driving direction of unmanned target and the yaw angle of north orientation of the straight line and north orientation that are constituted with target travel point, by base
The steering angle of unmanned target is converted into the main order of steering angle in the calibration shift algorithm of the low-pass first order filter with saturation limitation
I enables I be converted to controllable revolving speed for steering angle is main by proportion adjustment, i.e. the steering angle of steering wheel is main to enable II, turns again to angle master
II input quantity as PI closed loop control algorithm is enabled, obtains the voltage value of unmanned target driving motor, final steering wheel is in voltage
Under the control of value, make to move unmanned target ontology accurately with optimal path and direction running to target travel point；
It can be seen that the present invention can be travelled from non task garage to the road in operation target range by binding unmanned target ontology
Diameter travels unmanned target to expeditionary warfare region outside target range with optimal path under full unmanned state, has ensured that my army is real
The feasibility that war is practiced shooting.
2, the present invention provides a kind of device of path planning for unmanned target, real in conjunction with GPS double antenna orientation module
When the course information of geographical location information and unmanned target that measures target can be realized travelled by planning path, realize algorithm letter
Single, program is easily realized in engineering, can effectively shorten the lead time；In addition, the present invention, which puts into sensing, identifies that equipment is less, it is not required to
Target ontology vehicle is carried out to big dismounting and rectification, guarantees to reduce costs while reliability.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the paths planning method for unmanned target provided by the invention；
Fig. 2 is unmanned target driving trace schematic diagram provided by the invention；
Fig. 3 is the functional block diagram of paths planning method provided by the invention；
Fig. 4 is the functional block diagram of the low-pass first order filter of band provided by the invention saturation limitation；
Fig. 5 is that provided by the invention do not use carries out school based on the correction link with the low-pass first order filter for being saturated limitation
The schematic diagram of positive yaw angle；
Fig. 6 is that provided by the invention use is corrected based on the correction link with the low-pass first order filter for being saturated limitation
Yaw angle schematic diagram；
Fig. 7 is the functional block diagram of PI closed loop control algorithm provided by the invention.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described.
Embodiment one
Referring to Fig. 1, which is a kind of flow chart of paths planning method for unmanned target provided in this embodiment.One
Kind be used for the paths planning method of unmanned target, the unmanned target includes steering wheel and driving motor, the method includes with
Lower step:
S1: the angle of deviation of straight line and north orientation that the actual travel point and target travel point for obtaining unmanned target in real time are constituted,
The driving direction of unmanned target and the yaw angle of north orientation, wherein the straight line that actual travel point and target travel point are constituted is theory
Optimal path.
For example, to plan that unmanned target ontology is travelled by optimal path to target point, as shown in Fig. 2, A point is long-range
Command centre is sent to the target travel point of unmanned target ontology, which is geographical location longitude and latitude, and B point is for nobody
The actual geographic position longitude and latitude point that the GPS double antenna orientation module of target ontology obtains, unmanned target ontology is by obtaining A point
With the geographical location of B point, and trigonometric function operation is carried out, can obtain the angle of deviation α of BA and north orientation, 0 °~360 ° of range, line segment BA
For the theoretical optimal path of target traveling；Meanwhile the control module of unmanned target ontology obtains GPS double antenna orientation module simultaneously
The yaw angle β of offer, yaw angle β are the deviation of headstock driving direction and north orientation, and yaw angle β range is 0 °~360 °.
S2: using the difference of the angle of deviation and the yaw angle as the steering angle of unmanned target.
As shown in figure 3, being the functional block diagram of paths planning method provided in this embodiment, by target travel point A's
The latitude and longitude information of the actual travel of latitude and longitude information and real-time measurement point B carry out trigonometric function operation can be obtained real-time BA with
The angle of deviation α of north orientation, into target travel point driving process, the geographical location of target physical location B point passes through unmanned target ontology
Latitude information and yaw angle β information are constantly updated, and the angle of deviation α and real-time yaw angle β of BA and north orientation ask poor, the deviation conduct
The steering angle of target.
S3: the steering angle is corrected using the low-pass first order filter with saturation limitation, obtains unmanned target
Steering angle is main to enable I.
It enables I belong to control command it should be noted that steering angle is main, i.e., steering angle is navigated to the control of which angle
Order.
Further, when the steering angle for obtaining primary unmanned target is main enables I, complete a calibration cycle, then it is described
The main acquisition methods for enabling I of the steering angle of unmanned target specifically includes the following steps:
S31: the steering angle that the current correction period obtains and the main deviation for enabling I of steering angle that a upper calibration cycle obtains are obtained
Value；Wherein, in first calibration cycle, the steering angle that a upper calibration cycle obtains is main, and to enable I be 0；
S32: proportion adjustment is carried out to the deviation, obtains the steering angular velocity of unmanned target；
S33: saturation limitation processing is carried out to the steering angular velocity, makes steering angular velocity no more than 10 °/s；
S34: First-order Integral link processing will be carried out by the steering angular velocity for being saturated limitation processing, obtains current correction week
The steering angle of phase is main to enable I.
For example, with reference to Fig. 4, which is the principle frame of the low-pass first order filter of band saturation limitation provided in this embodiment
Figure；Target steering angle and feedback seek deviation, and the steering angular velocity of target is converted to through proportional gain Kp, and the present embodiment sets Kp
It is 4, then is limited through steering angular velocity of the saturation element to target, target turning velocity is saturated by the present embodiment in the link
Value is limited to 10 °/s, then is converted to after First-order Integral link processing that target steering angle is main to enable I, and target steering angle is main to enable I remake
For the negative-feedback of target steering angle, as shown in the comparison of Fig. 5, Fig. 6, target from current real-time yaw angle β state go to BA with
When the angle of deviation α state of north orientation, the correction link of Fig. 4, i.e. the present embodiment use the low-pass first order filter with saturation limitation real
Existing correction link can be effectively suppressed target and turn to overshoot.
S4: main to the steering angle that I is enabled to carry out proportion adjustment, the steering angle for obtaining unmanned target steering wheel main enables II.
It enables I after ratio K as shown in figure 3, the unmanned target steering angle of correction link output is main, is converted to driving direction
The steering angle of disk is main to enable II, the input quantity of the main order as subsequent PI closed loop control algorithm.
S5: enabling II to be modified using preset PI closed loop control algorithm is main to the steering angle, obtains unmanned target and drives
The voltage value of dynamic motor.
Further, when obtaining the voltage value of primary unmanned target driving motor, complete an amendment period, then it is described
Unmanned target driving motor voltage value specific acquisition methods the following steps are included:
S51: it obtained in the case where a upper amendment period obtains the control of voltage value, the steering angle of the steering wheel；
S52: the main steering angle for enabling II to obtain with a upper amendment period of steering angle that the current amendment period obtains is obtained
Deviation；Wherein, in first amendment period, the steering angle that a upper amendment period obtains is 0；
S53: the processing of saturation limitation for the first time is carried out to the deviation, makes the deviation no more than 80 °；
S54: PI adjusting is carried out to the deviation by the processing of saturation limitation for the first time, obtains stable deviation；
S55: second of saturation limitation processing is carried out to the stable deviation, makes stable deviation no more than 40 °；
S56: it will be handled by the deviation input inertance correction link of the processing of saturation limitation twice, obtain inertia school
Deviation after just；
S57: the deviation after the inertance correction is subjected to proportion adjustment, is currently corrected the driving motor in period
Voltage value.
For example, with reference to Fig. 7, which is the functional block diagram of PI closed loop control algorithm provided in this embodiment.Wheel steering
The main steering wheel current angle position amount for enabling II to measure with angular position pick up in angle, i.e. steering angle seek deviation, which are sent into
Saturation element 1 carries out amplitude limitation, which is set as 80 ° for saturation value 1, and the signal handled through saturation element 1 enters Fig. 7
PI link, the Kp1 of the PI link is set as 2, and through saturation element 2, saturation value 2 is set as 40 °, is entering inertance correction ring
Sectionτ 1, T1, τ 2, the T2 of the link are respectively set to 0.03,0.16,0.008,0.001, using Kp2,
Kp2 is set as 8, is converted to the voltage value of driving motor, and then voltage value is sent into target and turns to executing agency by control module, right
The steering of steering wheel is controlled, angular position pick up can Real-time Feedback steering wheel rotation Angle Position, and as PI closed loop
The negative-feedback of control algolithm makes the continuous main order of direction of closing disk steering angle of the real-time Angle Position of steering wheel by the above correcting process
Ⅱ。
S6: the driving motor adjusts the steering of the steering wheel under the control of the voltage value, enables unmanned target
Enough with the route of closest theoretical optimal path to target travel point.
It should be noted that the above parameter setting is to be travelled to turn to the actual of drives subsystem according to the present embodiment target
Rotary inertia state (being determined by target steering wheel actual steering resistance) adjust out to guarantee the optimal of steering wheel stable rotation
Parameter moves vehicle constantly along the direction of amendment α and β deviation by the rotation of steering wheel, finally makes unmanned target ontology
It is travelled with approaching the optimal path of BA to target point.The process for finding optimal path is the process of constantly amendment α and β deviation,
Until the angle of deviation is zero.
It can be seen that the single-point that more geographical locations can repeatedly be arranged by above step forms planning path, nobody is realized
The driving path diversification of target ontology can be travelled from non task garage to the road in operation target range by the way that unmanned target ontology is arranged
Diameter makes target drive into the theater of war outside target range under full unmanned state.
Embodiment two
Based on above embodiments, the present embodiment provides a kind of devices of paths planning method for unmanned target, including
Steering wheel and driving motor further include GPS double antenna orientation module and control module；
The GPS double antenna orientation module is used to obtain the latitude and longitude information of the actual travel point of unmanned target in real time；It can
Choosing, GPS double antenna orientation module includes system board and double antenna, realizes that target travels geographical location information, travel speed
The output of information, double antenna are arranged in the front-end and back-end of target ontology along target ontology direction, and double antenna constitutes straight line and target
Header tail straight line parallel, to realize the output of the yaw angle information of target traveling；
The control module controls the voltage value of the driving motor rotation for obtaining in real time, wherein control module can
Think DSP, specifically includes the following steps:
S1: according to the latitude and longitude information of the latitude and longitude information of actual travel point and the target travel point bound in advance, in real time
The angle of deviation of straight line and north orientation that the actual travel point and target travel point for obtaining unmanned target are constituted；
S2: the driving direction of unmanned target and the yaw angle of north orientation are obtained, wherein actual travel point and target travel point structure
At straight line be theoretical optimal path；
S3: using the difference of the angle of deviation and the yaw angle as the steering angle of unmanned target；
S4: the steering angle is corrected using the low-pass first order filter with saturation limitation, obtains unmanned target
Steering angle is main to enable I；
S5: main to the steering angle that I is enabled to carry out proportion adjustment, the steering angle for obtaining unmanned target steering wheel main enables II；
S6: enabling II to be modified using preset PI closed loop control algorithm is main to the steering angle, obtains unmanned target and drives
The voltage value of dynamic motor；
The driving motor adjusts the steering of the steering wheel under the control of the voltage value, makes unmanned target with most
Close to the route of theory optimal path to target travel point.
It should be noted that unmanned target ontology also typically includes four-wheel electric chassis or flexible car chassis, target
Traveling turns to drive module, advance control module and brake control module etc., and it includes side that target traveling, which turns to drive module,
To disk, transmission gear, driving motor, steering wheel position feedback mechanism etc., the present embodiment does not repeat this.
It can be seen that the control module based on DSP, which can be realized target traveling, turns to the motor driven of drive module, direction
Information collection, the steering wheel angle location control order output, GPS double antenna orientation module output signal of disk position feedback mechanism
Reception and processing, it is geographical by each target travel point of the control module of DSP to target driving path before combat duty
Position latitude and longitude information is bound, DSP control module operating path planning algorithm, drives the steering control in target driving process
System.
Certainly, the invention may also have other embodiments, without deviating from the spirit and substance of the present invention, ripe
Various corresponding changes and modifications can be made according to the present invention certainly by knowing those skilled in the art, but these it is corresponding change and
Deformation all should fall within the scope of protection of the appended claims of the present invention.
Claims (6)
1. a kind of paths planning method for unmanned target, the unmanned target includes steering wheel and driving motor, feature
It is, the described method comprises the following steps:
S1: obtain in real time unmanned target actual travel point and target travel point constitute straight line and north orientation the angle of deviation, nobody
The driving direction of target and the yaw angle of north orientation；
S2: using the difference of the angle of deviation and the yaw angle as the steering angle of unmanned target；
S3: the steering angle is corrected using the low-pass first order filter with saturation limitation, obtains the steering of unmanned target
Angle is main to enable I；
S4: main to the steering angle that I is enabled to carry out proportion adjustment, the steering angle for obtaining unmanned target steering wheel main enables II；
S5: enabling II to be modified using preset PI closed loop control algorithm is main to the steering angle, obtains unmanned target driving electricity
The voltage value of machine；
S6: the driving motor adjusts the steering of the steering wheel under the control of the voltage value, make unmanned target travel to
Target travel point.
2. a kind of paths planning method for unmanned target as described in claim 1, which is characterized in that when obtaining primary nothing
The steering angle of people's target is main when enabling I, completes a calibration cycle；
The main acquisition methods for enabling I of the steering angle of unmanned target described in step S3 specifically includes the following steps:
S31: the steering angle that the current correction period obtains and the main deviation for enabling I of steering angle that a upper calibration cycle obtains are obtained；
Wherein, in first calibration cycle, the steering angle that a upper calibration cycle obtains is main, and to enable I be 0；
S32: proportion adjustment is carried out to the deviation, obtains the steering angular velocity of unmanned target；
S33: saturation limitation processing is carried out to the steering angular velocity, makes steering angular velocity no more than 10 °/s；
S34: First-order Integral link processing will be carried out by the steering angular velocity for being saturated limitation processing, obtains the current correction period
Steering angle is main to enable I.
3. a kind of paths planning method for unmanned target as described in claim 1, which is characterized in that when obtaining primary nothing
When the voltage value of people's target driving motor, an amendment period is completed；
The specific acquisition methods of the voltage value of unmanned target driving motor described in step S5 the following steps are included:
S51: it obtained in the case where a upper amendment period obtains the control of voltage value, the steering angle of the steering wheel；
S52: the steering angle that the acquisition current amendment period obtains is main to enable II and upper one to correct the deviation for the steering angle that the period obtains
Value；Wherein, in first amendment period, the steering angle that a upper amendment period obtains is 0；
S53: the processing of saturation limitation for the first time is carried out to the deviation, makes the deviation no more than 80 °；
S54: proportional integration adjusting is carried out to the deviation by the processing of saturation limitation for the first time, obtains stable deviation；
S55: second of saturation limitation processing is carried out to the stable deviation, makes stable deviation no more than 40 °；
S56: it will be handled by the deviation input inertance correction link of the processing of saturation limitation twice, after obtaining inertance correction
Deviation；
S57: the deviation after the inertance correction is subjected to proportion adjustment, is currently corrected the voltage of the driving motor in period
Value.
4. a kind of device for realizing the paths planning method described in claim 1 for unmanned target, including steering wheel and drive
Dynamic motor, which is characterized in that further include GPS double antenna orientation module and control module；
The GPS double antenna orientation module is used to obtain the latitude and longitude information of the actual travel point of unmanned target in real time；
The control module controls the voltage value of the driving motor rotation for obtaining in real time, specifically includes the following steps:
S1: it according to the latitude and longitude information of the latitude and longitude information of actual travel point and the target travel point bound in advance, obtains in real time
The angle of deviation of straight line and north orientation that the actual travel point and target travel point of unmanned target are constituted；
S2: the driving direction of unmanned target and the yaw angle of north orientation are obtained；
S3: using the difference of the angle of deviation and the yaw angle as the steering angle of unmanned target；
S4: the steering angle is corrected using the low-pass first order filter with saturation limitation, obtains the steering of unmanned target
Angle is main to enable I；
S5: main to the steering angle that I is enabled to carry out proportion adjustment, the steering angle for obtaining unmanned target steering wheel main enables II；
S6: enabling II to be modified using preset PI closed loop control algorithm is main to the steering angle, obtains unmanned target driving electricity
The voltage value of machine；
The driving motor adjusts the steering of the steering wheel under the control of the voltage value, travels unmanned target to mesh
Mark traveling point.
5. a kind of dress for realizing the paths planning method described in claim 1 for unmanned target as claimed in claim 4
It sets, which is characterized in that further include the angular position pick up for obtaining the steering angle of unmanned target steering wheel；It is primary when obtaining
When the voltage value of unmanned target driving motor, an amendment period is completed；
The specific acquisition methods of the voltage value of unmanned target driving motor described in step S6 the following steps are included:
S61: it obtained in the case where a upper amendment period obtains the control of voltage value, the steering angle of the steering wheel；
S62: the steering angle that the acquisition current amendment period obtains is main to enable II and upper one to correct the deviation for the steering angle that the period obtains
Value；Wherein, in first amendment period, the steering angle that a upper amendment period obtains is 0；
S63: the processing of saturation limitation for the first time is carried out to the deviation, makes the deviation no more than 80 °；
S64: PI adjusting is carried out to the deviation by the processing of saturation limitation for the first time, obtains stable deviation；
S65: second of saturation limitation processing is carried out to the stable deviation, makes stable deviation no more than 40 °；
S66: it will be handled by the deviation input inertance correction link of the processing of saturation limitation twice, after obtaining inertance correction
Deviation；
S67: carrying out proportion adjustment for the deviation after the inertance correction, is currently corrected the unmanned target driving electricity in period
The voltage value of machine.
6. a kind of dress for realizing the paths planning method described in claim 1 for unmanned target as claimed in claim 4
It sets, which is characterized in that when the steering angle for obtaining primary unmanned target is main enables I, complete a calibration cycle；
The main acquisition methods for enabling I of the steering angle of unmanned target described in step S4 specifically includes the following steps:
S41: the steering angle that the current correction period obtains and the main deviation for enabling I of steering angle that a upper calibration cycle obtains are obtained；
Wherein, in first calibration cycle, the steering angle that a upper calibration cycle obtains is main, and to enable I be 0；
S42: proportion adjustment is carried out to the deviation, obtains the steering angular velocity of unmanned target；
S43: saturation limitation processing is carried out to the steering angular velocity, makes steering angular velocity no more than 10 °/s；
S44: First-order Integral link processing will be carried out by the steering angular velocity for being saturated limitation processing, obtains the current correction period
Steering angle is main to enable I.
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