摘要
小型无人机是一种适合短程和近距离范围进行灾害监测、目标巡查的新型飞行器,具有广阔的应用前景。导航与制导是小型无人机的核心技术,本文面向实际需求,系统地开展小型无人机的导航与制导系统关键技术研究。
首先,研究了小型无人机系统的总体结构,讨论了其组成及特性,分析了小型无人机的制导体系,结合本文小型无人机载体任务特点,对制导方式的选择进行了分析,设计了飞行控制系统的结构,对小型无人机导航与制导系统的研制具有参考作用。
其次,研究了微惯性多传感器组合导航算法,设计了适合于小型无人机的组合导航系统组合模和制导律;构建了考虑飞行器动力学模型的惯性组合导仿真系统,将制导和导航算法融入GNC环路进行了仿真验证,对导航与制导系统的研制具有重要的参考价值。
最后,基于微型导航与制导系统原理样机,以小尺寸微小型飞行器作为试验载机,进行了微型导航与制导系统的飞行试验,验证了该系统在微小型飞行器姿态稳定和航路点导航飞行中的性能,具有重要的工程应用参考价值。
Small UAV (SUAV) is a new type ofaircraft that can serve many function such as disaster monitor and target tracking. Navigation and guidance sytem is one of the core parts of SUAV. Aiming at requirements, key technologies of navigation and guidance system for SUAV have been studied in the dissertation.
The mechanism and components of SUAV system has been investigated and the architectures of guidance have been analyzed. Based on the characters of the object UAV, guidance method and guide law has been selected out. It is helpful for pushing on the research of SUAV.
The Multi-sensor inertial integrated algorithm was researched to determine the positions, velocitites and attitudes for SUAV and the suitable couple model was designed. Guidance laws, the flight control loops were designed. An inertial integrated simulation system in which the flight dynamics was taken count was constructed and the simulation combined guidance and navigation in GNC close loop has important reference value.
Based on the prototype of micro navigation and guidance system, flight test was carred on using a small-size mini UAV. The flight demonstration indicates that the micro navigation and guidance system can stabilize the mini UAV and navigate the UAV to fly among waypoints. This makes a foundation for the application of micro navigation and guidance system in SUAV and proves its value.
引文
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