TF/TA航迹规划技术与工程化研究
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摘要
地形跟随/地形回避航迹规划技术是现代低空突防系统中的关键技术之一,它充分利用地形遮蔽和雷达盲区对敌方进行突然打击,提高了飞机攻击的安全性、精确性和多样性。本文对动态地形跟随/地形回避算法进行工程化改进,研究了威胁回避方法,并搭建综合地形跟随/地形回避/威胁回避半物理仿真验证平台,对航迹规划算法和地形匹配算法进行实时仿真验证。
本文的主要工作包括:
1) 航迹规划算法改进。改进原有的动态航迹规划算法,采用动态规划和地形平滑算法相结合的航迹规划方式:首先在水平方向采用动态规划得到起点到目标点的完整的水平航迹,然后在此水平航迹确定的垂直平面内对地形坡度和地形曲率进行不断迭代平滑,直至得到的满足飞机纵向机动性能的纵向地形轮廓,该地形轮廓即为飞机的垂直规划轨迹。该方法解决了原有算法在水平方向和垂直方向都采用分段动态规划、逐步推进的方式导致的不能保证给出有效航迹的缺陷。
2) 威胁回避技术的研究。论文对离线威胁回避和实时威胁回避方法进行讨论。在离线规划阶段通过建立威胁数学模型,把威胁等效为山峰,将威胁回避转化为地形回避处理;实时威胁回避阶段,利用同极电荷相斥的思想,按照飞机最大机动性能将飞机排斥到远离威胁的方向,以达到威胁回避的目的。
3) 仿真平台的搭建与算法的验证。搭建以仿真控制计算机、嵌入式地面原理样机和视景演示计算机组成的半物理仿真验证平台在该平台上完成基于嵌入式实时操作系统VxWorks的数字地图技术、航迹规划算法和地形匹配算法的软件实现和验证。
The integration of terrain following/terrain avoidance/threat (TF/TA/TA) avoidance is key technique for the aircrafts to achieve low altitude penetration flight. Depending on this technique, survival ability, accuracy and diversity of aerial assault have been greatly improved. In this paper, the algorithm of the terrain following/terrain avoidance optimal trajectory programming has been improved, threat avoidance has been studied, and hardware-in-the-loop simulation system has been designed for validating the algorithm of trajectory planning and terrain match.The main contributions of dissertation are summarized as follows:1) Improve trajectory planning technology.Smoothing algorithm is integrated into dynamic trajectory programming. Firstly, the whole horizontal trajectory is planned using dynamic programming method, and then, with the limitation of horizontal trajectory, iteratively smooth gradient and curvature of terrain until it is fit for flight. So the phenomena that no trajectory from jumping-off point to end-point can be given is eliminated.2) The research on threat avoidance.In preflight planning phase, threat information is integrated into digital map, so threat avoidance can be translated into terrain avoidance;In real-time planning phase, the trajectory will be partly modified in order to away from threat, electrics theory is used in this phase.3) Construct simulation system & realize the algorithm.Construct hardware-in-the-loop simulation system including simulation control computer, embedded computer and 3-D display computer. On this simulation system, digital map technology, trajectory planning technology and terrain match technology are realized and validated based on embedded operating system VxWorks.
本文的主要工作包括:
1) 航迹规划算法改进。改进原有的动态航迹规划算法,采用动态规划和地形平滑算法相结合的航迹规划方式:首先在水平方向采用动态规划得到起点到目标点的完整的水平航迹,然后在此水平航迹确定的垂直平面内对地形坡度和地形曲率进行不断迭代平滑,直至得到的满足飞机纵向机动性能的纵向地形轮廓,该地形轮廓即为飞机的垂直规划轨迹。该方法解决了原有算法在水平方向和垂直方向都采用分段动态规划、逐步推进的方式导致的不能保证给出有效航迹的缺陷。
2) 威胁回避技术的研究。论文对离线威胁回避和实时威胁回避方法进行讨论。在离线规划阶段通过建立威胁数学模型,把威胁等效为山峰,将威胁回避转化为地形回避处理;实时威胁回避阶段,利用同极电荷相斥的思想,按照飞机最大机动性能将飞机排斥到远离威胁的方向,以达到威胁回避的目的。
3) 仿真平台的搭建与算法的验证。搭建以仿真控制计算机、嵌入式地面原理样机和视景演示计算机组成的半物理仿真验证平台在该平台上完成基于嵌入式实时操作系统VxWorks的数字地图技术、航迹规划算法和地形匹配算法的软件实现和验证。
The integration of terrain following/terrain avoidance/threat (TF/TA/TA) avoidance is key technique for the aircrafts to achieve low altitude penetration flight. Depending on this technique, survival ability, accuracy and diversity of aerial assault have been greatly improved. In this paper, the algorithm of the terrain following/terrain avoidance optimal trajectory programming has been improved, threat avoidance has been studied, and hardware-in-the-loop simulation system has been designed for validating the algorithm of trajectory planning and terrain match.The main contributions of dissertation are summarized as follows:1) Improve trajectory planning technology.Smoothing algorithm is integrated into dynamic trajectory programming. Firstly, the whole horizontal trajectory is planned using dynamic programming method, and then, with the limitation of horizontal trajectory, iteratively smooth gradient and curvature of terrain until it is fit for flight. So the phenomena that no trajectory from jumping-off point to end-point can be given is eliminated.2) The research on threat avoidance.In preflight planning phase, threat information is integrated into digital map, so threat avoidance can be translated into terrain avoidance;In real-time planning phase, the trajectory will be partly modified in order to away from threat, electrics theory is used in this phase.3) Construct simulation system & realize the algorithm.Construct hardware-in-the-loop simulation system including simulation control computer, embedded computer and 3-D display computer. On this simulation system, digital map technology, trajectory planning technology and terrain match technology are realized and validated based on embedded operating system VxWorks.
引文
[1] R.E.Huss, J.W.Weber, Routing Finding Using Digital Terrain Data, IEEE/AIAA5th Digital Avionics Systems Conference, 1983 14.4.1-14.4.4.
[2] Janin qGomez Tiemo M.A. The genetic algorithms for trajectory oprimaization E-43936,1990
[3] Miles B pellazar. Vehicle route planning with constraints using genetic algoritthm. NAECON[C].1994
[4] Y.K.Chan and M.Foddy, Real Time Optimal Flight Path Generation by Storage of Massive Data BasesProc. of IEEE NAECON Conference 1985:516-521.
[5] Denton,R.V. and Jones,J.E. Optimal TF/TA Routing Planning Using Digital Terrain Elevation Data, IEEE/AIAA 5th'Digital Avionics Systems Conference, 1983,14.3.1-14.3.6.
[6] Denton R.V.and J.Edwin Jones. et al. Demonstration of an Innovation Technique for Terrain Following/Terrain-Avoidance the Dynapath Algorithm, Proc. of IEEE NAECON Conference, 1985, pp 522-529.
[7] Menon.P.K.A, et al. Optimal Trajectory Synthesis for Terrain-Following Flight, J.Guidance,Control and Dynamics, 1991,14(4), 807-813.
[8] Asseo.S.J Terrain following/Terrain avoidance path optimization using the method of steepest descent In IEEENAECON,USA: the Dayton Convention Center,1988(23～27):1128～1136
[9] Denton,R.V. and Jones,J.E. Optimal TF/TA Routing Planning Using Digital Terrain Elevation Data, IEEE/AIAA 5th Digital Avionics Systems Conference, 1983, 14.3.1-14.3.6.
[10] Denton R.V.and J.Edwin Jones. et al. Demonstration of an Innovation Technique for Terrain Following/Terrain-Avoidance the Dynapath Algorithm, Proc. of IEEE NAECON Conference, 1985, pp 522-529.
[11] Menon.P.K.A, et al. Optimal Trajectory Synthesis for Terrain-Following Flight, J.Guidance,Control and Dynamics, 1991,14(4), 807-813.
[12] M.J.Wendl, D.R.Katt, et al. Advanced Automatic Terrain Following/Terrain Avoidance Control Concepts Study, Proc. of IEEE NAECON Conference, 1982, pp 1366-1372.
[13] R.E.Huss, J.W.Weber, Routing Finding Using Digital Terrain Data, IEEE/AIAA 5th Digital Avionics Systems Conference, 1983 14.4.1-14.4.4.
[14] Goodman Jr. From ADistance Sea Power 1997,7:41-44
[15] Windriver System Inc. "Tornado Training Workshop", v5.1,May 1999
[16] Windriver System Inc. "VxWorks Programmer's Guide", v5.4,May 1999
[17] Windriver System Inc. "Tornado Getting Started Guide", v2.0 May 1999
[18] Windriver System Inc. "Tornado User's Guide", May 1999
[19] Windriver System Inc. "WindView User's Guide", May 1999
[20] 杨帆 轨迹规划及仿真技术研究,西北工业大学硕士学位论文,1999年。
[21] 李祥 综合TF/TA最优航迹规划算法的研究 2003年
[22] 马向玲,叶文,范洪达 低空突防航路规划算法仿真研究 系统仿真学报Vol.16.NO.3 2004年3月458—464页
[23] 邱晓红等 战术飞行任务的水平航迹快速生成算法,北京航空航天大学学报,1996,22(6),775～779。
[24] 崔祜涛,刘春晓等 地形跟随/地形回避飞行器航迹优化,飞行力学,2000,18(1), 28-32。
[25] 李春华,郑昌文等一种三维航迹快速搜索方法,宇航学报,2002,23(2),13-17。
[26] 张海 智能化对地攻击路线规划方法与算法研究西安西北Z_业大学1998
[27] 胡志忠 徐克虎 沈春林 低空突防用数字地形的平滑处理 南京航空航天大学学报 第32卷第五期 2000年10月
[28] 邱晓红等 威胁环境突防优化策略分析 中国航空学会控制理论与飞行器控制与操作学术会议论文集618所,1995.282~286
[29] 华士冠 巡航导弹作战能力综合评价模型研究 无人飞行器学会年会报告1996.11
[30] 张明 地形匹配算法仿真研究 西北工业大学硕士学位论文 2004年
[31] 张明廉 飞行控制系统 国防工业出版社 1984
[2] Janin qGomez Tiemo M.A. The genetic algorithms for trajectory oprimaization E-43936,1990
[3] Miles B pellazar. Vehicle route planning with constraints using genetic algoritthm. NAECON[C].1994
[4] Y.K.Chan and M.Foddy, Real Time Optimal Flight Path Generation by Storage of Massive Data BasesProc. of IEEE NAECON Conference 1985:516-521.
[5] Denton,R.V. and Jones,J.E. Optimal TF/TA Routing Planning Using Digital Terrain Elevation Data, IEEE/AIAA 5th'Digital Avionics Systems Conference, 1983,14.3.1-14.3.6.
[6] Denton R.V.and J.Edwin Jones. et al. Demonstration of an Innovation Technique for Terrain Following/Terrain-Avoidance the Dynapath Algorithm, Proc. of IEEE NAECON Conference, 1985, pp 522-529.
[7] Menon.P.K.A, et al. Optimal Trajectory Synthesis for Terrain-Following Flight, J.Guidance,Control and Dynamics, 1991,14(4), 807-813.
[8] Asseo.S.J Terrain following/Terrain avoidance path optimization using the method of steepest descent In IEEENAECON,USA: the Dayton Convention Center,1988(23～27):1128～1136
[9] Denton,R.V. and Jones,J.E. Optimal TF/TA Routing Planning Using Digital Terrain Elevation Data, IEEE/AIAA 5th Digital Avionics Systems Conference, 1983, 14.3.1-14.3.6.
[10] Denton R.V.and J.Edwin Jones. et al. Demonstration of an Innovation Technique for Terrain Following/Terrain-Avoidance the Dynapath Algorithm, Proc. of IEEE NAECON Conference, 1985, pp 522-529.
[11] Menon.P.K.A, et al. Optimal Trajectory Synthesis for Terrain-Following Flight, J.Guidance,Control and Dynamics, 1991,14(4), 807-813.
[12] M.J.Wendl, D.R.Katt, et al. Advanced Automatic Terrain Following/Terrain Avoidance Control Concepts Study, Proc. of IEEE NAECON Conference, 1982, pp 1366-1372.
[13] R.E.Huss, J.W.Weber, Routing Finding Using Digital Terrain Data, IEEE/AIAA 5th Digital Avionics Systems Conference, 1983 14.4.1-14.4.4.
[14] Goodman Jr. From ADistance Sea Power 1997,7:41-44
[15] Windriver System Inc. "Tornado Training Workshop", v5.1,May 1999
[16] Windriver System Inc. "VxWorks Programmer's Guide", v5.4,May 1999
[17] Windriver System Inc. "Tornado Getting Started Guide", v2.0 May 1999
[18] Windriver System Inc. "Tornado User's Guide", May 1999
[19] Windriver System Inc. "WindView User's Guide", May 1999
[20] 杨帆 轨迹规划及仿真技术研究,西北工业大学硕士学位论文,1999年。
[21] 李祥 综合TF/TA最优航迹规划算法的研究 2003年
[22] 马向玲,叶文,范洪达 低空突防航路规划算法仿真研究 系统仿真学报Vol.16.NO.3 2004年3月458—464页
[23] 邱晓红等 战术飞行任务的水平航迹快速生成算法,北京航空航天大学学报,1996,22(6),775～779。
[24] 崔祜涛,刘春晓等 地形跟随/地形回避飞行器航迹优化,飞行力学,2000,18(1), 28-32。
[25] 李春华,郑昌文等一种三维航迹快速搜索方法,宇航学报,2002,23(2),13-17。
[26] 张海 智能化对地攻击路线规划方法与算法研究西安西北Z_业大学1998
[27] 胡志忠 徐克虎 沈春林 低空突防用数字地形的平滑处理 南京航空航天大学学报 第32卷第五期 2000年10月
[28] 邱晓红等 威胁环境突防优化策略分析 中国航空学会控制理论与飞行器控制与操作学术会议论文集618所,1995.282~286
[29] 华士冠 巡航导弹作战能力综合评价模型研究 无人飞行器学会年会报告1996.11
[30] 张明 地形匹配算法仿真研究 西北工业大学硕士学位论文 2004年
[31] 张明廉 飞行控制系统 国防工业出版社 1984