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针对无人机在二维平面自动飞行中转弯角度过大、路径规划困难的问题,研究了蚁群算法在复杂环境下航路规划中的应用,利用链接图简洁的特点建立空间模型,对无人机的飞行环境和航迹代价进行了描述,并结合三次样条插值函数与蚁群算法,提出了改进蚁群算法,对无人机飞行路径进行优化,并给出算法软件流程。利用MATLAB进行了仿真实验,得出了最优的航路,算法具有较好的稳定性和鲁棒性,对轨迹中不可飞的尖角进行了平滑处理,使得航路为曲线轨迹,满足无人机工作的性能要求,减少无人机在飞行中的代价损耗,验证了该优化算法在无人机航路规划中的可行性。 相似文献
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研究无人机航路规划,针对基本蚁群算法易于陷入局部最优、规划航路耗时长的问题,对基本蚁群算法进行了改进;引入航路点的动态自适应选择策略和信息素挥发因子动态自适应调整准则,有效克服了基本蚁群算法的不足,并对规划出的航路进行了平滑处理,使其更加满足无人机实际飞行需求。通过仿真分别规划出无人机在静态威胁和动态威胁中的航迹,仿真结果表明,与基本蚁群算法和遗传算法相比,改进的蚁群算法在两种飞行环境中均能规划出较优的航路。 相似文献
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无人机自主着陆是无人机任务执行后顺利回收的重要阶段。论文根据固定翼无人机着陆滑跑的特点,设计了无人机着陆滑跑的下滑高度轨迹及高度控制回路。在已知无人机着陆性能和空气动力学模型的情况下,根据无人机飞行任务的需求,研究了直线下滑段的轨迹设计,利用指数拉平方法设计了末端拉平段的轨迹,并结合PID控制技术对无人机的纵向俯仰控制回路以及整个无人机高度控制回路进行了建模和详细研究,利用MATLAB仿真技术对设计的控制方案的性能进行了详细分析,获得了相应的关键设计参数。对设计的高度控制回路方案的数学仿真和基于FlightGear飞行环境模拟系统的半物理仿真验证了所设计的自主着陆高度控制系统的可行性,具有一定的参考实用价值。 相似文献
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基于多级恒模阵的拖线阵拖转时的阵形自校准方法 总被引:2,自引:2,他引:0
针对拖船转弯时,弯曲的拖曳线列阵的波束形成和方位估计,提出了一种先盲捕获信号,再校准阵形并估计目标方位的方法。该方法首先利用多级恒模阵对多个独立的目标信号进行盲分离,并估计出拖线阵对目标的方向向量;然后再根据方向向量对拖线阵阵形进行校准并估计出目标方位。其中,阵形自校准时的核心问题——一个多维非线性约束最小二乘问题采用了遗传算法进行求解。文中还推导了对阵元位置和目标方位估计的克拉美罗界。针对较大弯曲度拖线阵的计算机仿真实验,结果表明该方法不依赖于阵形就可实现对目标信号的捕获与分离,具有自适应抑制其它方向入射干扰信号的能力,并可以对阵形和目标方位进行有效估计。仿真结果验证了方法的正确性和有效性。 相似文献
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Unmanned air vehicle flow separation control using dielectric barrier discharge plasma at high wind speed 总被引:3,自引:0,他引:3
The present paper described an experimental investigation of separation control of an Unmanned Aerial Vehicle(UAV)at high wind speeds.The plasma actuator was based on Dielectric Barrier Discharge(DBD)and operated in a steady manner.The flow over a wing of UAV was performed with smoke flow visualization in theΦ0.75 m low speed wind tunnel to reveal the flow structure over the wing so that the locations of plasma actuators could be optimized.A full model of the UAV was experimentally investigated in theΦ3.2 m low speed wind tunnel using a six-component internal strain gauge balance.The effects of the key parameters,including the locations of the plasma actuators,the applied voltage amplitude and the operating frequency,were obtained.The whole test model was made of aluminium and acted as a cathode of the actuator.The results showed that the plasma acting on the surface of UAV could obviously suppress the boundary layer separation and reduce the model vibration at the high wind speeds.It was found that the maximum lift coefficient of the UAV was increased by 2.5%and the lift/drag ratio was increased by about 80%at the wind speed of 100 m/s.The control mechanism of the plasma actuator at the test configuration was also analyzed. 相似文献
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Yonghang Yan Xuewen Xia Lingli Zhang Zhijia Li Chunbin Qin 《Entropy (Basel, Switzerland)》2022,24(10)
With the continuous development of Unmanned Aerial Vehicle (UAV) technology, UAVs are widely used in military and civilian fields. Multi-UAV networks are often referred to as flying ad hoc networks (FANET). Dividing multiple UAVs into clusters for management can reduce energy consumption, maximize network lifetime, and enhance network scalability to a certain extent, so UAV clustering is an important direction for UAV network applications. However, UAVs have the characteristics of limited energy resources and high mobility, which bring challenges to UAV cluster communication networking. Therefore, this paper proposes a clustering scheme for UAV clusters based on the binary whale optimization (BWOA) algorithm. First, the optimal number of clusters in the network is calculated based on the network bandwidth and node coverage constraints. Then, the cluster heads are selected based on the optimal number of clusters using the BWOA algorithm, and the clusters are divided based on the distance. Finally, the cluster maintenance strategy is set to achieve efficient maintenance of clusters. The experimental simulation results show that the scheme has better performance in terms of energy consumption and network lifetime compared with the BPSO and K-means-based schemes. 相似文献
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鲁剑锋 《中国光学与应用光学文摘》2011,(5)
介绍了无人机载设备的技术特点及机载小型图像处理器的组成。采用TI公司的数字信号处理器芯片为核心处理器,配合现场可编程逻辑器件(FPGA)与外部管理微控制单元(MCU)来实现目标数据的采集与处理,设计了适用于无人机光电载荷的超小型图像处理器系统。针对机载设备的特点,设计时充分考虑了体积、重量、功耗等要求。该系统已应用于多台套机载光电载荷中,工作稳定可靠,满足无人侦察机对捕捉和定位目标的要求。 相似文献
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针对无人机跟踪目标的航迹规划问题,本文提出了一种双评估函数的改进A*算法。首先,根据无人机在跟踪目标时的飞行特点提出了航迹规划策略,并结合无人机的油耗、航迹长短和机动性能等约束条件来设计中间目标点的评估函数和航迹片段的评估函数。之后,采用加权法对A*算法进行改进,以使航迹的优化与时间耗费之间找到平衡点。同时,改进在Open表中插入与删除节点的方式,提高计算效率。最后,通过对跟踪航迹的仿真,表明该算法可以快速、有效地为无人机在跟踪目标时规划出优化的航迹。 相似文献
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基于光流分层方法的平面3D运动估测 总被引:1,自引:0,他引:1
无人机自主着舰末端视觉导引中舰机间相对位姿的估测,可以看作机载摄像机对甲板平面3D运动的估测。提出了一种光流分层方法:首先利用已知焦距的机载摄像机拍摄着舰靶标区域的图像序列,并采用Lucas方法计算相邻两帧图像的光流场;而后通过分层模型,将由光流场进行3D运动检测的非线性问题转化为了两个线性问题。该方法无需图像间的特征匹配,可线性解算出着舰靶标区域相对于无人机的三维运动参数,进而得到舰机间的相对位姿信息。计算机合成图和摄像机实拍图像的实验结果验证了该算法的正确性和有效性。 相似文献
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无人机光电载荷图像处理器的设计 总被引:2,自引:0,他引:2
介绍了无人机载设备的技术特点及机载小型图像处理器的组成。采用TI公司的数字信号处理器芯片为核心处理器,配合现场可编程逻辑器件(FPGA)与外部管理微控制单元(MCU)来实现目标数据的采集与处理,设计了适用于无人机光电载荷的超小型图像处理器系统。针对机载设备的特点,设计时充分考虑了体积、重量、功耗等要求。该系统已应用于多台套机载光电载荷中,工作稳定可靠,满足无人侦察机对捕捉和定位目标的要求。 相似文献
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A camera calibration method is presented for large field optical measurement, where the camera is close to the ground and the control points can only be located close to the ground, too. In such conditions, the camera's optical center and the control points are approximately coplanar. Only a single image of these control points captured by the camera in measurement state is used in the method. Neither to distribute the control points in space rationally nor to calibrate the camera's intrinsic parameters in laboratory in advance is needed. By the presented method, the camera's principal point position, focal length, radial and transverse tangency lens distortion coefficients, and the camera's position and attitude parameters can be estimated precisely. Then the calibration results can be used for precise large field optical measurement in the conditions that the camera's longitudinal tangency lens distortion can be neglected or the objects’ movement field is close to the ground, which is usually factual in practical applications. The presented camera calibration method has been successfully used in applications, such as automatic landing of UAV (Unmanned Aerial Vehicle) based on optical measurement guidance, to calibrate the cameras precisely. 相似文献
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针对目前无人机地面测控站导航模块的局限,提出了基于Web墨卡托投影原理的导航电子地图的设计方案,使用ImageStone类库简化了电子地图的制作,并实现了电子地图的绘制、平移及缩放功能;在此基础上完成了航迹规划、实际飞行航线的实时显示以及航线保存等功能,大大提高了地面站的导航地图与导航信息融合显示的实时性;经过无人机仿真系统的测试,验证了方案设计的合理性和可行性,该导航电子地图能够高效、准确地完成各项导航任务。 相似文献