无人飞行器延时航迹规划方法

编队飞行中无人飞行器由于战场态势改变等原因常常需要延迟打击目标。在定高飞行模式下,提出了基于分层规划的延时航迹规划方法,首先基于最小风险值选择最佳延时机动区域,然后采用基于解析法的延时航迹规划算法,生成满足延迟时间和飞行约束条件要求的延时机动航迹。通过分析计算各个航迹段附近区域的风险值,确定了无人飞行器延时机动的安全飞行区域;基于解析法提出徘徊延时航迹的规划算法,并用该算法生成满足飞抵时间延迟量要求的延时航迹。仿真结果显示,徘徊延时航迹规划算法能够高效准确地规划出需要的延时航迹,规划总时间在规定的时间范围内,较好地满足了无人飞行器需要延时飞行的时间要求。

A Planning Method of Delay Path for Unmanned Aerial Vehicle

For the change of battlefield situation and other reasons, the unmanned aircraft Vehicles (UAV) in formation flight need flight delay in target attack. In the equal-altitude flying mode, the delay path planning method is presented based on hierarchical planning. First, this paper selects the best delay movement area based on the minimum risk value, and then adopts the delay path planning method to form the delay maneuver path satisfying the delay time and the requirement of flight constraints. Through analyzing and calculating risk of each track segment near the value, the UAV maneuver flight delay safe zone is determined and by using an analytical method the planning algorithm hover delay path is proposed based on the delay, delay time and the flight track constraints requirements. This algorithm is utilized to generate the time delay path satisfying the requirement of arrival time delay. The simulation results show that the hover delay path planning algorithm can accurately track the delay needed planning, plan a total time within the stipulated time, and meet the flight time delay requirement of UAV.