CAJ | 학술논문

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。
제출료기우자동가사의적무인궤근종지면목표적제도、공제가구，장“무인궤＋자동가사의”적조합간작시이곤전각、비행고도화속도위공제수입적동태계통。재횡측향，상비하일시각，근거무인궤적항적방위각오차이급무인궤여목표점재수평면내상대거리여기망반선반경적오차，급출곤전각지령적제도규률，병대제도지령적생성주기진행료연구；대우종향，위강저목표상태고계대우자태오차적민감도，결합전감기분변솔적요구，급출료해산비행고도지령적방법。무인궤륙자유도모형적방진대비표명，소제근종제도률상비리아보낙부향량장법（ LVFG）화절향량장법（ TVFG）구유경우적은정성화준학성。
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) .