TF/TA航迹规划技术与工程化研究

【作者】 孙大伟；

【导师】 吴成富；

【作者基本信息】 西北工业大学 ， 导航、制导与控制， 2006， 硕士

【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。更多还原

【Abstract】 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.更多还原