基于RPPP的无人机自主着舰关键技术研究

doi:10.16182/j.issn1004731x.joss.21-0473

摘要/Abstract

摘要：

在有风浪的复杂海况下，需要自主着舰的无人机与舰船两者相对运动带有极大不确定性，为了提高无人机着舰时相对定位以及控制的精度，确保无人机着舰时的安全性与可靠性，提出一种通过差分对流层误差的相对精密单点定位技术(relative precise point position, RPPP)。该技术仅依靠数据链和载波型卫星定位接收机，消除相同环境下卫星定位相同误差，获得精确相对定位。将比例导引与LQR(linear quadratic regulator)控制器相结合，解决了无人机着舰入射角偏差较大的问题，提高了无人机着舰末段高程方向及入射角度的控制精度。对无人机着舰轨迹进行规划，建立无人机着舰的运动模型，设计无人机着舰横向和纵向的控制律，搭建无人机自主着舰的仿真平台。仿真结果表明，采用上述算法着舰误差控制在0.2 m以下，入射角偏差在10^-3量级，可满足无人机着舰要求。

关键词: RPPP, 相对位置, 无人机, 舰船, 比例导引, LQR控制器

Abstract:

In complex sea conditions with wind and waves, the relative motion between unmanned aerial vehicles (UAVs) requiring autonomous landing and ships is highly uncertain. In order to improve the accuracy of relative positioning and control during autonomous landing, and to ensure the safety and reliability of autonomous landing, a relative precise point positioning (RPPP) technique based on differential tropospheric error is proposed. The technology only relies on data link and carrier satellite positioning receiver to eliminate the same error of satellite positioning in the same environment and obtain accurate relative positioning. The combination of proportional navigation and linear quadratic regulator (LQR) controller solves the problem of large deviation of incident angle of UAV landing, and improves the control accuracy of elevation direction and incident angle at the end of UAV landing. The trajectory of UAV landing is planned, the motion model of UAV landing is established, the horizontal and vertical control laws of UAV landing are designed, and the simulation platform of UAV autonomous landing is built. The simulation results show that the landing error of the above algorithm is controlled below 0.2 m, and the incident angle deviation is in the order of 10^?3, which can meet the requirements of UAV landed on the ship.

Key words: relative precise point position (RPPP), relatively position, unmanned aerial vehicles (UAV), aircraft carrier, proportional guidance, linear quadratic regulator (LQR) controller

中图分类号:

TP391.9

康国华, 赵腾, 付瑶, 徐伟证, 魏建宇, 邱钰桓, 武俊峰. 基于RPPP的无人机自主着舰关键技术研究[J]. 系统仿真学报, 2022, 34(11): 2359-2367.

Guohua Kang, Teng Zhao, Yao Fu, Weizheng Xu, Jianyu Wei, Yuhuan Qiu, Junfeng Wu. Research on Key Technology of UAVs Autonomous Landing Based on Relative Precise Point Position[J]. Journal of System Simulation, 2022, 34(11): 2359-2367.

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导引律	着舰偏差/m	与预期入射角偏差/(°)
偏置比例导引	0.018	0.129 0
最优控制	0.011	0.005 3