基于北斗通信技术的无人机运动轨迹跟踪控制系统设计
2022,30(12):137-142
摘要：为使所获俯仰角、滚转角、偏航角跟踪结果均与无人机实际运动轨迹保持一致，实现对整条行进轨迹的准确追踪与控制，设计基于北斗通信技术的无人机运动轨迹跟踪控制系统。按照北斗通信技术的应用标准，定义运维报文、通知协商报文、业务数据报文三种不同格式的协议文件，并以此为基础，深入分析无人机飞行器的内部结构组成，再结合大量行进姿态数据，完成对无人机运动轨迹跟踪控制系统的动力学建模。确保主供应电路的顺畅连接，将所有传输电量按需匹配至全驱动运动结构、姿态调节器、自适应控制器、轨迹追踪器四类硬件应用结构中，完成系统的主控结构设计，联合所有软、硬件运行条件，实现基于北斗通信技术的无人机运动轨迹跟踪控制系统设计。根据实验结果可知，在北斗通信技术的影响下，系统主机所获得的俯仰角、滚转角、偏航角跟踪结果均不会与无人机实际运动轨迹产生较大
关键词：北斗通信技术；无人机运动轨迹；跟踪控制；航迹角；协议报文；动力学模型；
Design of UAV trajectory tracking control system based on Beidou communication technology
Abstract：In order to keep the tracking results of pitch angle, roll angle and yaw angle consistent with the actual trajectory of unmanned aerial vehicle (UAV), and realize the accurate tracking and control of the whole trajectory, a tracking control system of UAV trajectory based on Beidou communication technology is designed. According to the application standard of Beidou communication technology, three protocol files with different formats are defined: operation and maintenance message, notification and negotiation message and business data message. Based on this, the internal structure of UAV is deeply analyzed, and then the dynamic modeling of UAV trajectory tracking control system is completed by combining with a large amount of traveling attitude data. Ensure the smooth connection of the main supply circuit, match all the transmitted power to four types of hardware application structures: full-drive motion structure, attitude regulator, adaptive controller and trajectory tracker, complete the design of the main control structure of the system, and combine all the software and hardware operating conditions to realize the design of the trajectory tracking control system of UAV based on Beidou communication technology. According to the experimental results, under the influence of Beidou communication technology, the tracking results of pitch angle, roll angle and yaw angle obtained by the system host will not be significantly different from the actual trajectory of the UAV, which is more in line with the application requirements of accurately tracking the complete trajectory of the UAV compared with the application system based on adaptive integral backstepping method.
Key words：Beidou communication technology; UAV trajectory; Tracking control; Track angle; Protocol message; Dynamics model;
收稿日期：2022-04-27
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