Aiming at the missile avoidance problem of the unmanned aerial vehicle(UAV)in complex obstacle environments,this work proposes a collision-avoidance method based on receding horizon optimization.The proposed method ge...Aiming at the missile avoidance problem of the unmanned aerial vehicle(UAV)in complex obstacle environments,this work proposes a collision-avoidance method based on receding horizon optimization.The proposed method generated a specific trajectory for the UAV to effectively induce the proportional navigation missile to successfully intercept the obstacle,thereby accomplishing the evasive maneuver.The evasive maneuver was divided into two distinct stages,namely the collision-inducing phase and the fast departure phase.The obstacle potential field-based target selection algorithm was employed to identify the most appropriate target obstacle,while the induced trajectory was determined through a combination of receding horizon optimization and the hp-adaptive pseudo-spectral method.Simulation experiments were carried out under three different types of obstacle environments and one multiobstacle environment,and the simulation results show that the method proposed in this paper greatly improves the success rate of UAV evasive maneuvers,proving the effectiveness of this method.展开更多
Spacecraft orbit evasion is an effective method to ensure space safety. In the spacecraft’s orbital plane, the space non-cooperate target with autonomous approaching to the spacecraft may have a dangerous rendezvous....Spacecraft orbit evasion is an effective method to ensure space safety. In the spacecraft’s orbital plane, the space non-cooperate target with autonomous approaching to the spacecraft may have a dangerous rendezvous. To deal with this problem, an optimal maneuvering strategy based on the relative navigation observability degree is proposed with angles-only measurements. A maneuver evasion relative navigation model in the spacecraft’s orbital plane is constructed and the observability measurement criteria with process noise and measurement noise are defined based on the posterior Cramer-Rao lower bound. Further, the optimal maneuver evasion strategy in spacecraft’s orbital plane based on the observability is proposed. The strategy provides a new idea for spacecraft to evade safety threats autonomously. Compared with the spacecraft evasion problem based on the absolute navigation, more accurate evasion results can be obtained. The simulation indicates that this optimal strategy can weaken the system’s observability and reduce the state estimation accuracy of the non-cooperative target, making it impossible for the non-cooperative target to accurately approach the spacecraft.展开更多
基金Natural Science Foundation of Heilongjiang Province of China(Grant No.YQ2022F012)the Fundamental Research Funds for the Central Universities(Grant No.HIT.OCEF.2023010)to provide fund for conducting experiments.
文摘Aiming at the missile avoidance problem of the unmanned aerial vehicle(UAV)in complex obstacle environments,this work proposes a collision-avoidance method based on receding horizon optimization.The proposed method generated a specific trajectory for the UAV to effectively induce the proportional navigation missile to successfully intercept the obstacle,thereby accomplishing the evasive maneuver.The evasive maneuver was divided into two distinct stages,namely the collision-inducing phase and the fast departure phase.The obstacle potential field-based target selection algorithm was employed to identify the most appropriate target obstacle,while the induced trajectory was determined through a combination of receding horizon optimization and the hp-adaptive pseudo-spectral method.Simulation experiments were carried out under three different types of obstacle environments and one multiobstacle environment,and the simulation results show that the method proposed in this paper greatly improves the success rate of UAV evasive maneuvers,proving the effectiveness of this method.
基金supported by the National Key R&D Program of China (2020YFA0713502)the Special Fund Project for Guiding Local Scientific and Technological Development (2020ZYT003)+1 种基金the National Natural Science Foundation of China (U20B2055,61773021,61903086)the Natural Science Foundation of Hunan Province (2019JJ20018,2020JJ4280)。
文摘Spacecraft orbit evasion is an effective method to ensure space safety. In the spacecraft’s orbital plane, the space non-cooperate target with autonomous approaching to the spacecraft may have a dangerous rendezvous. To deal with this problem, an optimal maneuvering strategy based on the relative navigation observability degree is proposed with angles-only measurements. A maneuver evasion relative navigation model in the spacecraft’s orbital plane is constructed and the observability measurement criteria with process noise and measurement noise are defined based on the posterior Cramer-Rao lower bound. Further, the optimal maneuver evasion strategy in spacecraft’s orbital plane based on the observability is proposed. The strategy provides a new idea for spacecraft to evade safety threats autonomously. Compared with the spacecraft evasion problem based on the absolute navigation, more accurate evasion results can be obtained. The simulation indicates that this optimal strategy can weaken the system’s observability and reduce the state estimation accuracy of the non-cooperative target, making it impossible for the non-cooperative target to accurately approach the spacecraft.
