摘要
为解决无人机自主导航过程中自主着陆时难以满足特征识别条件的问题,提出一种基于光流的高度估计及自主着陆控制策略。依据无人机高度和垂直速度的关系,建立状态空间模型,通过模拟着陆,采用小扰动线性化系统模型,分析在恒定光流散度着陆过程中自激振荡的发生。仿真结果表明:控制增益给定的情况下,控制回路的稳定性仅取决于对地高度,当接近地面时,控制回路出现自激振荡,此时机载设备可以检测到震荡,并计算出高度。
In order to solve the problem that it is difficult to meet the feature recognition conditions during autonomous landing of unmanned aerial vehicle(UAV)during autonomous navigation,an optical flow-based altitude estimation and autonomous landing control strategy are proposed.According to the relationship between the height of the UAV and the vertical speed,a state-space model is established,and the small disturbance linearization system model is adopted to analyze the occurrence of self-excited oscillation during landing with a constant optical flow divergence through simulated landing.The simulation results show that under the given control gain,the stability of the control loop depends only on the height to the ground.When it is close to the ground,the control loop will self-oscillate.At this time,the airborne equipment can detect the oscillation and calculate height.
作者
唐大全
唐管政
谷旭平
Tang Daquan;Tang Guanzheng;Gu Xuping(Navy Aviation University,Yantai 264001,China)
出处
《兵工自动化》
2021年第4期33-37,共5页
Ordnance Industry Automation
关键词
光流
稳定性
自适应控制
高度估计
optical flow
stability
adaptive control
altitude estimation
