一种空间曲线轨迹跟踪的无人机自适应导航控制算法

随着固定翼无人机飞行任务复杂化，为了实现高精度的空间曲线导航控制，基于L1-Navigation非线性导航控制算法，设计自适应模糊控制器优化固定翼无人机跟踪空间曲线导航控制方法。以球面上的空间八字曲线为例，对八字曲线建模，通过坐标转换求得目标航点位置来计算无人机飞行加速度。为了优化加速度控制无人机跟踪空间曲线性能，在L1-Navigation导航控制器中，针对增益系数设计一个双输入单输出模糊控制系统，以轨迹误差和轨迹误差变化率为输入量，以计算横向加速度的增益系数常数为输出量。最后，在Ardupilot飞控中进行飞行模拟实验，飞行实验表明，所提出方法能够精确跟踪空间曲线路径，并且有很好的自适应性。

An adaptive navigation control algorithm for UAV with space curve tracking

With the complication of fixed-wing UAV flight missions, in order to achieve high-precision space curve navigation control, based on the L1-Navigation nonlinear navigation control algorithm, an adaptive fuzzy controller is designed to optimize the fixed-wing UAV tracking space curve navigation control method. . Taking the space figure curve on the sphere as an example, the figure figure is modeled, and the target waypoint position is obtained by coordinate transformation to calculate the drone flight acceleration. In order to optimize the tracking space curve performance of the UAV for acceleration control, a two-input single-output fuzzy control system is designed for the gain coefficient in the L1-Navigation navigation controller. The trajectory error and the trajectory error change rate are input quantities to calculate the lateral acceleration The gain coefficient constant is the output amount. Finally, flight simulation experiments were performed in the Ardupilot flight control. The flight experiments show that the proposed method can accurately track the space curve path and has good adaptability.