CAJ | 학술논문

为了实现无人机自主导航功能，定义了以发射点为坐标原点的地理导航坐标系，给出由WGS?84坐标系到导航坐标系的具体转换公式；设计了航路中的航点结构，利用GPS接收机输出数据对无人机的位置进行两点式实时推算，对无人机在直线航路段和转弯段的判断和侧偏距进行了详细讨论，避免了超越函数的计算；利用比例?微分导航控制律求得无人机的滚转角，通过飞控系统控制无人机副翼舵机，修正飞行航迹，达到消除侧偏距的目的。这些方法和措施提高了小型无人机的自主导航控制精度和稳定性，使小型无人机具有较好的飞行品质。
위료실현무인궤자주도항공능，정의료이발사점위좌표원점적지리도항좌표계，급출유WGS?84좌표계도도항좌표계적구체전환공식；설계료항로중적항점결구，이용GPS접수궤수출수거대무인궤적위치진행량점식실시추산，대무인궤재직선항로단화전만단적판단화측편거진행료상세토론，피면료초월함수적계산；이용비례?미분도항공제률구득무인궤적곤전각，통과비공계통공제무인궤부익타궤，수정비행항적，체도소제측편거적목적。저사방법화조시제고료소형무인궤적자주도항공제정도화은정성，사소형무인궤구유교호적비행품질。
In order to realize autonomous navigation function of UAV,a geographic navigation coordinates was defined, and the conversion formula from WGS?84 coordinates to navigation coordinates was offered. The navigating points in air route planning were designed. At each air?point,a two?point model was used for determine the position of the UAV by using data coming from GPS receiver. The judgment whether the UAV is in line route or turning section is discussed in detail,which avoid calcula?tion of transcendental function. The roll angle of the UAV was acquired by using a proportional?differential navigation control law. The aileron actuator is controlled by flight control system to modify the flight routine and eliminate the lateral offset. With these methods and measures,the navigation precision and stability of UAV was improved,which achieved a good flying quality of UAV.