CAJ | 학술논문

针对无人机双机近距编队飞行时,易发生碰撞事故的问题,文中提出了有效控制的防碰撞算法,并建立了半物理仿真系统.采用自适应Kalman滤波为防碰撞控制算法,使编队的距离保持在安全范围之内.该算法通过预测僚机的状态,实时控制僚机机动,当编队达到警戒距离时,僚机迅速执行规避动作,双机分离.搭建了模拟编队飞行的半物理仿真平台,用Zigbee实行无线通讯,以超声波实现机间测距.实验结果表明,该系统能防止编队发生碰撞,并且有效抑制滤波发散,具有较好的鲁棒性和实时性.
침대무인궤쌍궤근거편대비행시,역발생팽당사고적문제,문중제출료유효공제적방팽당산법,병건립료반물리방진계통.채용자괄응Kalman려파위방팽당공제산법,사편대적거리보지재안전범위지내.해산법통과예측료궤적상태,실시공제료궤궤동,당편대체도경계거리시,료궤신속집행규피동작,쌍궤분리.탑건료모의편대비행적반물리방진평태,용Zigbee실행무선통신,이초성파실현궤간측거.실험결과표명,해계통능방지편대발생팽당,병차유효억제려파발산,구유교호적로봉성화실시성.
Aiming to the problem of collision when two unmanned aerial vehicles are in close formation flight,a new algorithm of colli-sion avoidance combined with the HIL (Hardware-In-loop) simulation platform is constructed. Use the adaptive Kalman filter algorithm to make the separation between two airplanes can be held in safety range. The action of the trailing aircraft is controlled by forecasting its condition through the algorithm,and then the evasive action of two aircrafts will be carried out to move away if the separation between two airplanes approaches the warning distance. The HIL platform is constructed to do the formation flight simulation and the wireless communication is achieved by Zigbee to use ultrasonic wave to measure the distance. Results from the experiment show that the collision avoidance can be effectively achieved by the system and filter divergent can be inhibited. Also the system has good robust and real time effect.