摘要
针对固定翼无人机在舰载移动平台上自主着陆所面临的降落点快速移动、固定翼无人机必须维持一定的空速且在空中无法有效制动等问题,提出一种基于动作规划的分段引导策略,实时引导固定翼无人机在舰载移动平台上精准着陆。将固定翼无人机自主着舰过程划分为过渡引导和进近引导,对2个阶段分别设计不同的引导策略。在过渡引导阶段,使用有限状态机将固定翼无人机从任意初始状态引导至移动甲板后方一定距离外;在进近引导阶段,通过动作采样实时调整固定翼无人机运动轨迹,直至成功引导无人机降落至移动甲板上。数值仿真和半实物仿真表明,所提出的分段引导策略可以将固定翼无人机从任意初始状态引导降落至不同移动速度、颠簸的航母甲板上,着舰误差可控制在2 m以内。
In order to land a fixed-wing Unmanned Aerial Vehicle(UAV)on a moving platform,serval problems should be addressed.For example,the landing platform moves rapidly,and the UAV has to maintain high speed to generate sufficient lift while it cannot brake in mid-air at will.A segmented guidance strategy is proposed based on action planning.The autonomous shipborne landing process is divided into two stages:transition guidance and approach guidance.In the transition guidance stage,a finite state machine is utilized to guide the fixed-wing UAV from any initial state to a specific distance behind the moving deck.In the approach guidance stage,the action sampling is used to adjust the trajectory in real-time to guide the UAV to touch the deck accurately.Numerical simulation and FlightGear based semi-physical simulation demonstrate that the proposed strategy can effectively guide the fixed-wing UAV from any initial state to the carrier deck with different moving speeds and turbulence,and the landing error is within 2 m.
作者
梁建建
汪首坤
何绍溟
LIANG Jianjian;WANG Shoukun;HE Shaoming(School of Automation,Beijing Institute of Technology,Beijing 100081,China;School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China)
出处
《航空学报》
北大核心
2025年第13期147-166,共20页
Acta Aeronautica et Astronautica Sinica
基金
国家自然科学基金(62473044)。
关键词
固定翼无人机
舰载自动着陆
引导策略
运动规划
过渡引导
进近引导
半实物仿真
fixed-wing UAV
autonomous shipborne landing
guidance strategy
motion planning
transition guidance
approach guidance
semi-physical simulation
作者简介
通信作者:汪首坤,E-mail:bitwsk@bit.edu.cn。
