提出了基于自动驾驶仪的无人机跟踪地面目标的制导、控制架构, 将“无人机+自动驾驶仪”的组合看作是以滚转角、飞行高度和速度为控制输入的动态系统。在横侧向, 相比下一时刻, 根据无人机的航迹方位角误差以及无人机与目标点在水平面内相对距离与期望盘旋半径的误差, 给出滚转角指令的制导规律, 并对制导指令的生成周期进行了研究; 对于纵向, 为降低目标状态估计对于姿态误差的敏感度, 结合传感器分辨率的要求, 给出了解算飞行高度指令的方法。无人机六自由度模型的仿真对比表明, 所提跟踪制导律相比李亚普诺夫向量场法(LVFG)和切向量场法(TVFG)具有更优的稳定性和准确性。

A guidance and control framework is proposed based on auto-pilot for unmanned aerial vehicle (UAV) to track the ground target.The combination of “UAV+auto-pilot” is considered as a dynamic system with bank angle flight height and velocity as inputs.Laterally compared with next period heading angle error of UAV and error between relative distance and prescribed tracking distance are calculated out to work out bank angle command as well as the cycle of calculation.Longitudinally in order to decrease sensitivity of target state estimation to UAV gesture error flight height command is derived with sensor resolution taken into consideration.The simulation based on 6 degree of freedom model of UAV indicates that the proposed guidance law has a stability and precision superior to that of the Lyapunov Vector Field Guidance(LVFG)and Tangular Vector Field Guidance(TVFG).